Robust control design for home pension service mobile robots with passive and servo constraints

This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.