Study of Nonlinear H2 and Hinf Control Designs for Nonholonomic Wheeled Mobile Robots

Abstract

Two nonlinear H2 and Hinf trajectory tracking control laws for nonholonomic wheeled mobile robots are presented in this dissertation and the design objective is to specify nonlinear control laws that satisfy the H2 and Hinf performance indexes respectively for the trajectory tracking design of nonholonomic wheeled mobile robots The main contribution of this dissertation is: two solutions with the simpler control structures for the trajectory tracking design of nonholonomic wheeled mobile robots are elegantly derived and practically implemented Based on a series mathematical analysis for the property of the trajectory tracking error dynamic system of nonholonomic wheeled mobile robots these H2 and Hinf trajectory tracking problems can be transferred directly to solve different nonlinear time varying Riccati-like equations Furthermore solutions to these nonlinear time-varying Riccati-like equations can be fortunately obtained with two very simple forms for the preceding control designs Finally simulations and practical testing conditions on circular and straight reference trajectories are used for performance verifications of these proposed methods

Date of Award	2014 Jan 22
Original language	English
Supervisor	Tzuu-Hseng S. Li (Supervisor)