Adaptive H∞ trajectory control of nonholonomic mobile robot with compensation of input uncertainty | IEEE Conference Publication | IEEE Xplore

Adaptive H∞ trajectory control of nonholonomic mobile robot with compensation of input uncertainty


Abstract:

This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H∞ control method. Kinematics ...Show More

Abstract:

This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H 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 method. Numerical simulations are given to show the effectiveness of the proposed method.
Date of Conference: 28-30 September 2011
Date Added to IEEE Xplore: 13 October 2011
ISBN Information:
Print ISSN: 1085-1992
Conference Location: Denver, CO, USA

References

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