Adaptive Neural Network H¡Þ Tracking Control of Wheeled Mobile Robots with Unknown Slipping Based on Transverse Function Approach

Proposed in this paper is a new trajectory tracking controller for the uncertain wheeled mobile robots (WMR) violating the pure nonholonomic constraint. Firstly, the group operation for left-invariant system by using the transverse function is employed to solve the under actuated and MIMO coupled problem in WMR. Then in order to attenuate external disturbance and compensate the unknown slipping, a con-troller combines H∞ control and adaptive neural network is presented. Hence, the H∞ tracking performance with a prescribed disturbance attenuation lever is guaranteed and the system uncertainty including the slipping is approximated optimally. The validity of proposed control method is verified by the simulation results.