Output feedback nonlinear H<inf>∞</inf> control of wheeled mobile robots formation

摘要

This paper presents a procedure to design robust controllers for a group of wheeled mobile robots (WMRs) in formation. Wheeled mobile robots exchange informations according to a pre-specified communication digraph. Stable motions are generated by a decentralized control law based on the robots coordinates. In addition, the nonlinear dynamic equations of the robots are described in state-space form where the parameters matrices depend on the angular velocities of the wheels. Output feedback controllers based on nonlinear H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> approaches are designed in order to guarantee the stability formation. Results obtained from simulation illustrate the effectiveness of this procedure.