Cascade Motion/Force Control Strategy of nonholonomic Wheeled Mobile Robotic Systems

Abstract

A wheel mobile robot (WMR) is a kind of modular robotic system and it is impossible to obtain an exact dynamics model due to unknown parameters, or unpredictable and irregular features, external disturbance. Because of the non-holonomic constraint's property, this paper considers a cascade controller based on linear matrix inequalities (LMIs) to guide WMR to follow the desired trajectory and the tracking of constraint force. The stability of the whole system is point out based on theoretical analysis. The simulation results demonstrate the good performance of the proposed controller for motion/force tracking control.