Robust H-Infinity Control of Intelligent Autonomous Navigation Wheelchair

摘要

This paper proposes a robust control for a two-wheeled intelligent wheelchair using H-infinity (H_∞) control scheme in the presence of uncertainties. An optimal H_∞ controller design is given based on an iterative linear matrix inequality algorithm, which is robust to variance of the motor dynamics, sensor noise, and unmodeled vehicle dynamics. Finally, the simulation experiments show the effectiveness of the proposed scheme.