Robust path following of a car-like robot in the presence of sliding effect based on LMI formulation

摘要

Robust path following of car-like robot in the presence of sliding effect is the objective of this article. To reach this purpose, robust mix H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> /H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> static state feedback control method is selected. This method is the well-known linear robust controller which is robust against external disturbance as well as model uncertainty. This path following problem is formulated as Linear Matrix Inequality (LMI) for the kinematic model of car-like robot, which includes sliding effect, and this problem is solved by MATLAB LMI Toolbox. Moreover, robustness and path following performance of proposed controller is investigated based on simulation results which have been done by MATLAB Simulink and it is proven that presented controller is able to follow simple path like linear path and complex path like circular path even in the presence of sliding effect.