H∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics
Amir Salimi Lafmejani,Hamed Farivarnejad,Spring Berman,Amir Salimi Lafmejani,Hamed Farivarnejad,Spring Berman
In this paper, we present an optimal control approach using Linear Matrix Inequalities (LMIs) for trajectory tracking control of a three-wheeled omnidirectional mobile robot in the presence of external disturbances on the robot's actuators and noise in the robot's sensor measurements. First, a state-space representation of the omnidirectional robot dynamics is derived using a point-mass dynamic mo...
