Robust H∞ controller based on variable gain linear parameter varying and pole assignment of nonholonomic mobile robot trajectory tracking

A trajectory tracking controller is presented with pole assignment based on robust H
∞
linear parameter-varying for nonholonomic mobile robot because of it's dynamic uncertainty. This dynamic equation of robot trajectory tracking is obtained by Euler- Lagrange method, which is transformed into linear parameter-varying plant with convex polyhedron structure by the variable gain linear parameter varying and convex decomposition technique. Based on robust control theory and linear matrix inequality theory, the state feedback controller at each vertex of the convex polyhedron is designed. Then, linear parameter varying controller is obtained by using each vertex controller. Simulation results show that robot manipulators have good tracking performance for the joint position change.