Optimal Trajectory Tracking under Parametric Uncertainty


IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Busan, South Korea, 7 - 11 July 2015, pp.706-712 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/aim.2015.7222620
  • City: Busan
  • Country: South Korea
  • Page Numbers: pp.706-712


The kinematic model of a wheeled mobile robot is considered to be not very accurate; this imprecision is due to several uncertain geometric parameters expressed in the form of scale factors. Naturally, these geometric uncertainties have an adverse influence on the output computed using this kinematic model. In this paper, the imprecise inverse kinematic model of a wheeled mobile robot is studied in discrete-time; an optimal controller is designed to enhance the tracking performance of a mobile robot. In the final part of this paper, the analytical solution of this problem is tested with computer simulations.