Moving Horizon ${\cal H}_{\infty}$ Tracking Control of Wheeled Mobile Robots With Actuator Saturation

Abstract

This brief considers the dynamic tracking control of wheeled mobile robots (WMR), in the presence of both actuator saturations and external disturbances. A computationally tractable moving horizon <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i> <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> tracking scheme is presented, where a constrained <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i> <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model. Closed-loop tracking properties inclusive of <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">L</i> <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> disturbance attenuation are discussed in the framework of dissipation theory. Simulation results are given.