Robust Adaptive Trajectory Control of Nonholonomic Mobile Robot with Compensation of Input Uncertainty

Abstract

The design method of a robust adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots is discussed. The aim is to develop a dynamics control system, because kinematics control laws of mobile robots is well known. The resulting dynamics control strategy can compensate not only the physical parameters of mobile robot, but also the input torque uncertainty and the input torque disturbance based on adaptive H∞ method. Numerical simulations are given to show the effectiveness of the proposed method.