Design of a robust tracking controller for a nonholonomic mobile robot with side slipping based on Lyapunov Redesign and nonlinear <i>H_∞</i> methods

摘要

In this paper, robust control of nonholonomic mobile robots is considered which is more complex with respect to holonomic types, due to fewer degrees of freedom in their model. In addition, side slipping is considered which disturbs the nonholonomic constraint adversely. In previous researches, the slip is either estimated by an estimator or is measured using additional sensors. In this paper, the Kanayama transformation is modified such that the model of the robot only includes matched disturbances. Then, a robust tracking controller is designed using the Lyapunov redesign method when only the upper bound of the side slip is known. Moreover, in order to compare the performance of the proposed controller, the nonlinear H∞ control is also developed for this robot. Finally, the performance of these two controllers is compared and the simulation results show the appropriate efficiency of the proposed controllers.