Control-Oriented LFT Modelling and H∞ Control of Differentially Driven Wheeled Mobile Robot

Efficient Motion Planning With Minimax Objectives: Synergizing Interval Prediction and Tree-Based Planning

“…In this context, tackling issues involving uncertain systems has always been a major challenge, with a considerable volume of literature dedicated to addressing each undertaking. Previous research predominantly focuses on stabilizing these systems with respect to a predetermined reference state or trajectory, such as sliding-mode control [6], [7], [8], H ∞ control [9], systemlevel synthesis control [10], [11] and Model Predictive Control (MPC) [12], [13], [14], [15]. Within the MPC framework, one of the currently popular strategies has the unique ability to both track and predict trajectories.…”