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Trajectory tracking nonlinear H∞ controller for wheeled mobile robots with disturbances observer.

Jesús A Rodríguez-Arellano1, Roger Miranda-Colorado2, Luis T Aguilar1

  • 1Instituto Politécnico Nacional, Av. Instituto Politécnico Nacional, No. 1310, Nueva Tijuana, Tijuana, Baja California, 22435, México.

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|August 7, 2023
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Summary

This study introduces a robust H-infinity controller for Wheeled Mobile Robots (WMRs) to overcome disturbances. The novel approach ensures accurate trajectory tracking in real-world applications.

Keywords:
Disturbance observerH(∞) controlObserver-based controlTrajectory tracking controlWheeled mobile robot

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Wheeled Mobile Robots (WMRs) are crucial for industrial and civilian tasks, requiring precise trajectory tracking.
  • Real-world WMR operation faces challenges like kinematic disturbances, state estimation errors, and measurement noise.
  • These factors degrade system performance, necessitating robust control strategies.

Purpose of the Study:

  • To develop a novel observer-based H-infinity controller for WMRs.
  • To enhance robustness against both matched and unmatched disturbances.
  • To ensure reliable trajectory tracking performance under adverse conditions.

Main Methods:

  • A disturbance observer is integrated to compensate for system uncertainties.
  • The closed-loop system is transformed to manage uniformly bounded disturbances.
  • An H-infinity controller is designed for precise reference signal tracking.
  • Stability is formally proven to validate the proposed methodology.

Main Results:

  • The proposed controller demonstrates superior robustness against disturbances.
  • Numerical simulations and experimental results validate the controller's effectiveness.
  • The novel controller outperforms traditional feedback and finite-time controllers.

Conclusions:

  • The observer-based H-infinity controller offers efficient and outstanding performance for WMR trajectory tracking.
  • This approach effectively mitigates the impact of disturbances in practical WMR applications.
  • The study confirms the feasibility and practical applicability of the proposed control strategy.