Trajectory tracking robust control for two wheels robot

Abstract

Robust control was many times successfully used for nonlinear plant control in engineering applications. In this paper robust controller design method for trajectory tracking two wheels mobile robotic system is presented. The proposed method is based on the Small Gain Theory and known M-delta structure of a closed loop system in the frequency domain. Simulation example illustrating effectiveness of the proposed control for uncertain model of two wheels mobile robotic system is included.