Adaptive H∞ control of nonholonomic mobile robot based on inverse optimality

This paper deals with the problem of constructing adaptive trajectory control scheme of nonholonomic mobile robots based on H_infin control strategy. Both kinematics control laws and dynamics control ones are developed based on H_infin criterion and for processes with unknown parameters. It is shown that the resulting control signals are derived as solutions of certain H_infin control problems where tracking errors of controlled velocities and estimation errors of tuning parameters are regarded as external disturbances to control systems.