Tracking control of a mobile robot using a genetically tuned mixed H2/H∞ adaptive technique

There are two major methods for motion control of non-holonomic mobile robots when the knowledge about the model is not complete: adaptive control and robust control. The combination of two methods allows tuning of the robust controller and assures a satisfactory performance in practical situations. In this paper, a mixed H₂/H_∞ PID controller incorporated with an adaptive term is developed for tracking control of a mobile robot The controller´s parameters are optimally tuned to minimize the energy of control signals via a genetic algorithm. The proposed control technique is numerically simulated on a mobile robot and the results are compared with two other methods: an adaptive method and a robust H_∞ method. The simulation results show that the proposed technique results in the smallest control energy. Also, it may tolerate uncertainties up to 99% in comparison to the corresponding values of 85% and 94% for the previously proposed methods, respectively.