H_∞ controller synthesis for AGV trajectory tracking using a linearized kinematic model

摘要

This paper proposes a design procedure for H_∞ optimal linear feedback controllers for trajectory tracking of an automated guided vehicle (AGV) based on a linearized kinematic model. The design specifications are expressed as a constrained H_∞ norm optimization problem to assess the potential of the H_∞ framework for the considered application. This problem is then solved for a linear parameter-varying (LPV), a full-block and a decoupled linear time-invariant (LTI) controller. The performance of all controllers is compared through numerical simulations and experiments on an AGV prototype targeted at agricultural applications.