Robust LMI based control of Wheeled Mobile Robots

This paper is concerned with the robust H-infinity (H_∞) control of Wheeled Mobile Robots(WMR) by LMI approach. H_∞ differs from the classical control approach in that the controller stabilizes the system irrespective of the exogenous inputs (disturbances & noise) affecting the system and the unmodelled dynamics. The H_∞ constraints can be expressed as linear matrix inequalities via bounded real lemma. The LMI approach is advantageous over the Riccati equations approach because of a few reasons cited. It is applicable to all plants without restrictions on infinite or pure imaginary invariant zeros. The approach yields a finite dimensional parameterization of all H_∞ controllers. In this proposed work the LMI approach towards robust H_∞ control is applied to the control of Wheeled Mobile Robots(WMR). WMR is a multi input multi output system which finds applications in tedious tasks like nuclear waste disposal, explorations, mines etc. This approach yields a finite dimensional controller as compared to other H_∞ control methods.