Adaptive H<inf>∞</inf> trajectory control of nonholonomic mobile robot with compensation of input uncertainty

摘要

This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control method. Kinematics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamics control strategy can compensate not only the physical parameters of mobile robot, but also the input torque uncertainty and the input torque disturbance based on adaptive H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> method. Numerical simulations are given to show the effectiveness of the proposed method.