Control Lyapunov Function Design for Trajectory Tracking Problems of Wheeled Mobile Robot

Abstract

Trajectory tracking is an important control problem that has been studied by many researchers. However, no studies have discussed the trajectory tracking problem for a wheeled mobile robot via the minimum projection method. This paper proposes a Tracking Control Lyapunov Function (TCLF) design that uses dynamic extension and the minimum projection method. The proposed method converges the two-wheeled mobile robot to a time-varying target state. Moreover, the effectiveness of the proposed method is validated through a computer simulation.