Energy Saving Control Approach for Trajectory Tracking of Autonomous Mobile Robots

This research presents an adaptive energy-saving H2 closed-form control approach to solve the nonlinear trajectory tracking problem of autonomous mobile robots (AMRs). The main contributions of this proposed design are as follows: closed-form approach, simple structure of the control law, easy implementation, and energy savings through trajectory tracking design of the controlled AMRs. It is difficult to mathematically obtained this adaptive H2 closed-form solution of AMRs. Therefore, through a series of mathematical analyses of the trajectory tracking error dynamics of the controlled AMRs, the trajectory tracking problem of AMRs can be transformed directly into a solvable problem, and an adaptive nonlinear optimal controller, which has an extremely simple form and energy-saving properties, can be found. Finally, two test trajectories, namely circular and S-shaped reference trajectories, are adopted to verify the control performance of the proposed adaptive H2 closed-form control approach with respect to an investigated H2 closed-form control design.