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In this paper, a robust disturbance attenuation control scheme for Wheeled Moving Robot (WMR) with actuator saturations is proposed. First, tracking error dynamics of WMR considering disturbances is represented by uncertain Tagaki-Sugeno (T-S) fuzzy model, where varying velocity in desired trajectory is look as uncertain parameter. Then a constrained robust ℋ∞ controller in the form of state feedback is derived for each subsystem by solving LMI based semidefinite programming problems. Finally, The overall controller then is constructed in the framework of PDC and the Lyapunov stability of the closed-loop system is tested finally. Simulation results are given and discussed to validate the proposed scheme.