The research on robust tracking control of constrained wheeled mobile robots

In this paper, a robust tracking scheme is proposed for nonholonomic wheeled mobile robots (WMRs) with parameter uncertainty, external disturbance and input constraints. In the framework of LMI optimization, the H _∞ tracking scheme is consequently formulated as on-line solving the constrained H _∞control problem at each sampling time, updated with the actual state and the actual model parameters. By using dissipation theory, we discuss the properties inclusive of stability and H _∞ performance. Simulation is performed to highlight the effectiveness of the proposed control law.