Robust control of mobile robots using the computed torque plus H∞ compensation method

This paper introduces robust control architecture for nonholonomic mobile robots. The proposed technique linearizes and decouples the nonlinear and coupled dynamic equations of the robot by computed torque approach. Since the computed torque technique requires the exact knowledge of the corresponding nonlinear dynamics, therefore, any mismatch in this regard may leave some nonlinear and also uncertain parts in the resulting system. The effect of mentioned parts may be compensated via a robust controller. As a result, in the present work, the remaining uncertainty is compensated by the H_∞ technique, which requires the boundedness of the uncertain part. It is shown that the elements of the said uncertainty are L₂ -bounded. Numerical simulations demonstrate the effectiveness of the proposed H_∞ based robust control scheme.