Optimal trajectory tracking under parametric uncertainty

The kinematic model of a wheeled mobile robot is considered to be not very accurate; this imprecision is due to several uncertain geometric parameters expressed in the form of scale factors. Naturally, these geometric uncertainties have an adverse influence on the output computed using this kinematic model. In this paper, the imprecise inverse kinematic model of a wheeled mobile robot is studied in discrete-time; an optimal controller is designed to enhance the tracking performance of a mobile robot. In the final part of this paper, the analytical solution of this problem is tested with computer simulations.