The purpose of this paper is to perform path tracking for a non-holonomic mobile robot subject to kinematic disturbances using model prediction and H-2/H-infinitycontrol and by Gain-scheduled control law. In this method, the problem of tracking a mobile robot is expressed in such a someway that its kinematic error is in the form of linear parameter variable with bounded disturbance, the purpose of the design is to stabilize the controller by solving the LMI conditions for the error tracking...
