Robust Control Of Wheeled Mobile Robot

Since robot can be viewed as an effective extension of human's motor ability, it is sure to be indispensable in the course of recognition and exploration of the world. Due to its important role in theory and application, the motion control of mobile robot has been given enough attention by researchers in the world.In this thesis, two main problems have been studied on the motion control of mobile robot in recent years. One problem is motion control of non-holonomic mobile robot;the other problem is anti interference in mobile robot's motion. The former has huge challenge for the robot character in non-holonomic;the latter has much difficulty for there are lots of uncertainty factors affecting the motion of mobile robot. The main results as the following:First of all, under analysising current situation of the wheeled mobile robot control method in deepen, systematic, this dissertation summarize the robust control and has explained relevant technology, such as robust controlling and linear matrix inequality, etc. briefly.Because of the system is not standard H_∞ control problem, according to the requirement of reality, the math model with uncertainty should be changed into standard trace control problem. The simulation result is illustrated the robust control method having the effect of anti interference.Considering H_∞ control problem of a wheeled mobile robot with holonomic constraints for a kind of MIMO high-order LTI system, a new algorithm of H_∞ control based on LMI is also proposed. The simulation results demonstrate the efficiency of the method.