H-Infinity Controller Synthesis for AGV Trajectory Tracking Using a Linearized Kinematic Model

Abstract

This paper proposes a design procedure for H-infinity 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 H1 norm optimization problem to assess the potential of the H-infinity 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.