A New Nonlinear H-infinity Feedback Control Approach to the Problem of Autonomous Robot Navigation

摘要

This research work introduces a new control\udmethod for feedback control of nonlinear dynamical systems\udwith application example the problem of trajectory tracking\udby an autonomous robotic vehicle. The control method consists\udof a repetitive solution of an H-infinity control problem\udfor the mobile robot, that makes use of a locally linearized\udmodel of the robot and takes place at each iteration of the\udcontrol algorithm. The vehicle’s model is locally linearized\udround its current position through the computation of the\udassociated Jacobian matrices. Using the linearized model of\udthe vehicle an H-infinity feedback control law is computed.\udThe known robustness features of H-infinity control enable to\udcompensate for the errors of the approximative linearization,\udas well as to eliminate the effects of external perturbations.\udThe efficiency of the proposed control scheme is shown analytically\udand is confirmed through simulation experiments.\udThe method can be applied to a wide class of nonlinear\uddynamical systems.