Robust Control of the Mobile Robot Based on the General Control Performance Index

Abstract

Mobile robot is a complex nonlinear system with uncertainty. A novel robust control method is proposed for the robust control of uncertain mobile robot systems based on the new control performance index $\hat{\beta}$. The control performance index $\hat{\beta}$ is a dynamic depiction of the constraint-following error, which can guarantee the control design flexibility. Regardless of the size of uncertainty, the control ensures that the control performance index $\hat{\beta}$ is uniform boundedness and uniform ultimate boundedness. In the control, there is a control design parameter $\kappa$ that can be chosen within a specific range, and the parameter can be optimized to achieve lower control cost and better control performance. This optimization problem is expressed as an intelligent decision control problem in which one control parameter deals with two system performance indicators. In order to reduce the control force of the system and ensure optimal control performance, the parameter $\kappa$ is selected. Finally, simulation analysis of the mobile robot is conducted to validate the robust control design.