Experiences on tracking control of a mobile robot

CARLOS SORIA; RICARDO CARELLI

Río Cuarto, Córdoba

Simposio; XI Reunión de Trabajo en Procesamiento de la Información y Control, RPIC05; 2005

Unversidad Nacional de Río Cuarto

This work presents a mobile robot’s tracking controller design that can follow differentiable trajectories. The tracking model of the mobile robot is linearized at the equilibrium point. Two linear feedback state controllers have been designed; one to satisfy the H¥ performance and the other controller is a LQR control. Both optimal controllers are designed by using linear matrix inequalities (LMI), and they have been implemented in a mobile robot Pioneer 2DX for different trajectories, such as circle, line and sinusoidal. Simulations and experimental results are shown in order to evaluate the performance of the designed controllers.