Moving Horizon ${\cal H}_{\infty}$ Tracking Control of Wheeled Mobile Robots With Actuator Saturation

This brief considers the dynamic tracking control of wheeled mobile robots (WMR), in the presence of both actuator saturations and external disturbances. A computationally tractable moving horizon
H

_infin
tracking scheme is presented, where a constrained
H

_infin
control problem is solved at each sampling time with the update of not only the initial condition but also the prediction model. Closed-loop tracking properties inclusive of
L

₂
disturbance attenuation are discussed in the framework of dissipation theory. Simulation results are given.