Robust stabilization of a non holonomic system via H-infinity(H∞) control

Abstract

This paper focuses on the control design of a non holonomic system namely the Wheeled Mobile Robot. The proposed design renders a controller such that the closed loop system is internally stable and the effect of disturbance and noise inputs on some of the outputs is attenuated. The nominal, robust performances and robust stability conditions are satisfied. The reference tracking of the outputs are achieved. Also the effects of the exogenous disturbances on the system outputs are found to be minimum.