Modeling and H∞ Robust Control for Mobile Robot

Based on kinematic and kinetic analyses of the 3-degree of freedom differentially driven wheels mobile robot, we proposed a nonlinear mathematical model with uncertain disturbance. This model was transformed into linear control systems through an approximate linearization algorithm, which is based on balanced flow pattern. After that, we designed a partial feedback H∞ robust controller based on LMI for the robots. The efficiency of our method received supports from the simulation results.

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