Robust control for uncertain nonholonomic systems and its application to mobile robots

This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms, and other disturbances. Based on the ideas of H^∞ control and homogeneous feedback, the controller proposed can stabilize the closed loop systems when there is no exotic disturbance. In addition, it can realize the desired disturbance attenuation according to some integral criterion about a homogeneous norm when there exists any disturbance. Simulation results in mobile robots show that the approach is effective.