Robust Control Of Wheeled Mobile Robot

The progress of the modern automatic control technology provides even wider space for scientific research and exploration work. If the robot can be regarded as a kind of effective tool that expand the human ability to work, the manlcind can't have no robot during the process of understanding and rebuilding the world. In the robot application, the mobile robot is an important domain of it, and it has been an important development direction too. The research on the control of mobile robot, been paid extremely attention all the time.First of all, under analysising current situation of nonholonomic system and the wheeled mobile robot control method in deepen, systematic, this dissertation summarize the robust control of WMR with nonholonomic constraints, and has explained relevant technology , such as non-linear system, robust controlling and linear matrix inequality ,etc. briefly .Because of restriction terms of nonholonomic constraint WMR kinematics equation, point stabilization become very complicated under Cartesian coordinates. This dissertation aim at the constraint condition that" pure roll without slippage ", designed an asymptotically stabilizing controller based on Lyapunov function under polar coordinates. This method restrained constraint condition from to be apparent to include among the equation, made it is possible that WMR system can be stabilized to any given place.On this basis, a kind of H_∞ robust controller has been design. Observer-based controller is widely accepted for its simple structure and esplicit physical meaning. The LMI method todesign H_∞ controller under the assumption of observer-based type is studied.Finally, the simulation results show the effectiveness of the proposed control method.