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Abstract goes here. This paper describes a new design of L2 robust controller of electrical mobility aids. The ability of disturbance suppression is one of the key performance indicators of a system. The L2 robust controller designed contained in this paper shows its disturbance suppression ability according to the simulation. In this paper, we firstly elaborate the four-wheel nonlinear L2 robust controller of the electrical mobility aids designed by using the back-extrapolation method through the construction of storage function. The stability of the L2 control rule is proved based on Lyapunov theorem. Secondly, we analyze the relationship between the stability of the electrical mobility aids and L2 gain. The proposed method not only overcomes the difficulty of solving HJI nonlinear partial differential inequalities in the design method of system controller, but also solves the problem including disturbance suppression and trajectory tracking, make the L2 controller asymptotically stable. In the end, the simulation research of the trajectory tracking with nonlinear L2 robust controller verifies the effectiveness and correctness of the design method.
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