Tracking Control of a Wheel-type Mobile Robot via Grey Interference Estimator Approach

This study is mainly based on the grey theory to develop the prediction of uncertain disturbance term and to design the grey feedback linearization controller for the path tracking of a wheeled mobile robot. In the proposed control method, the main purpose of the design of grey external disturbance predictor is to compensate the external disturbance in the system and makes it become a stable feedback linearized real-time control system. Moreover, the controller gain can be asymptotically stabilized by linear matrix inequality to ensure the robust performance of trajectory tracking. Finally, the method is verified by numerical simulations.