Abstract
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.
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