Globally asymptotically stable tracking control of mobile robots

Abstract

We discuss the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints. The stability of the controller is derived by the Lyapunov direct method. We analyze the system responses according to the variation of control parameters in line tracking problem. It is showed that the output responses represent non-oscillatory property in line tracking. Both the two-wheeled mobile robot and car-like mobile robot are selected as examples, and the simulation results are presented to show the effectiveness of our method.