Modeling and H_∞ Robust Control for Mobile Robot

Abstract

Based on kinematic and kinetic analyses of the 3-degree of freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> robust controller based on LMI for the robots. The efficiency of our method received supports from the simulation results.