H_∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

“…The desired trajectory constraints are not unique and the readers could change the form of equation (73). The proposed method is not only applicable to circular path (Amirkhani et al, 2022) but also accessible to “∞” curve (Lafmejani et al, 2020).…”

“…For addressing the trajectory tracking control problem, the uncertainties in the tracking process have to be considered, and numerous classic control methods have been presented to handle them, including fuzzy control (Abiyev et al, 2019), optimal control (Lafmejani et al, 2020), and robust control (Jeong and Chwa, 2021) and so on. Chen et al (2019) combine tube-based model predictive control in handling kinematic constraints and adaptive control in handling dynamic constraints.…”

Improved Path Tracking Control in Mobile Robots Using a Hybrid FOPID Controller with Backstepping Technique: An Experimental Study

“…The problem of tracking trajectory is still fascinating and interests many investigators. Since the rapid progress of many indoor and outdoor applications that act in complex environment [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. In addition, the majority of WMRs can be categorized as nonholonomic mechanical systems (pure rolling without side slipping motion).…”

“…The motion of a WMR in this scenario carries three degrees of freedom, but under the nonholonomic restriction, it can only be controlled by two control inputs. These control issues have freshly interested a great attention of many researchers [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Each mechanism has its own specific dynamics propriety that it is different from one robot to another, which means a standard regulation technique is not available.…”

“…In order to deal with disgust issues, a robust control method is required. Various powerful control approaches have been implemented practically to handle this problem, such as sliding mode control [11,12], adaptive control [13][14][15], H-infinity control [16,17], neural network control [18][19][20], fuzzy logic type-2 in the study [21,22], and using the adaptive neuro-fuzzy inference (ANFIS) [23].…”