A robust nonlinear optimal controller for autonomous mobile robots

In this paper, a robust nonlinear optimal control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectories is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, asymptotic convergence of optimal control input, disturbance suppression, etc., are shown through stability analysis as well as computer simulation