A trajectory tracking control method for nonholonomic mobile robots

Abstract

To study the trajectory tracking control based on the kinematic model of a 2-wheel differentially driven mobile robot, a variable structure control algorithm is proposed. By using of the backstepping method and virtual feedback parameter with the signum function, a variable structure tracking controller is designed for the mobile robot. The global asymptotic stability of the closed-loop system is guaranteed by Lyapunov direct method. Simulation results show the effectiveness of the proposed algorithm.