A moving horizon H∞ tracking scheme for wheeled mobile robots with actuator constraints

This paper discusses the robust tracking problem of dynamic WMRs subject to nonholonomic constraints and actuator saturations. A moving horizon H∞ tracking scheme is proposed, where a constrained H∞ control problem is solved at each sampling time with the update of not only the initial condition but...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 37; no. 13; pp. 627 - 632
Main Authors Chen, H., Wang, J., Gao, X.Q., Liu, Z.Y.
Format Journal Article
LanguageEnglish
Published 01.09.2004
Subjects
actuator saturation
H∞ tracking
LPV systems
moving horizon strategy
Wheeled mobile robot
H∞ tracking
actuator saturation
LPV systems
Wheeled mobile robot
moving horizon strategy
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ISSN1474-6670
DOI10.1016/S1474-6670(17)31294-6

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Summary:This paper discusses the robust tracking problem of dynamic WMRs subject to nonholonomic constraints and actuator saturations. A moving horizon H∞ tracking scheme is proposed, where a constrained H∞ control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model. Hence, the suggested scheme is potentially less conservative than those on fixed prediction models. Closed-loop properties are discussed in the framework of dissipation theory.
ISSN:1474-6670
DOI:10.1016/S1474-6670(17)31294-6