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 model.In the following stability, conditions are then formulated in such a way that the upper bounds are considered as LMI auxiliary variables and with the help of more free matrices we can reduce conservatism. The target tracking is first designed with the assumption that there is no obstacle in the environment, and then the obstacle avoidance mode is added to the tracer controller, which is done by modifying the optimal state vector definition. In both cases, the system stability check is also performed. Simulation is performed on several predetermined paths indicating that this strategy is feasible.
Sariaron, N. (2022). Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay. Afribary. Retrieved from https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay
Sariaron, Nadia "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay" Afribary. Afribary, 13 Feb. 2022, https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay. Accessed 27 Nov. 2024.
Sariaron, Nadia . "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay". Afribary, Afribary, 13 Feb. 2022. Web. 27 Nov. 2024. < https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay >.
Sariaron, Nadia . "Mixed H_2/H_∞ and Robust Predictive to Control Wheeled Mobile Robots with Time Delay" Afribary (2022). Accessed November 27, 2024. https://afribary.com/works/mixed-h-2-h-and-robust-predictive-to-control-wheeled-mobile-robots-with-time-delay