Abstract
This paper aims to design a robust output control to regulate the output for an uncertain omnidirectional mobile robot with input saturation and state constraints, in the presence of external disturbances. The proposed robust control approach is composed of a linear control part, that is designed based on the attractive ellipsoid method and a barrier Lyapunov function approach, taking into account the input and state constraints, and a nonlinear control part that can compensate the effect of matched disturbances. The synthesis of the robust control is given in terms of linear matrix inequalities. Simulation results show the workability of the proposed robust control approach.
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