Trajectory tracking control of the nonholonomic mobile robot using torque method and neural network

Abstract

This paper deals with the problem of tracking control of the mobile robot with non-holonomic constraint. A controller with two control loops is designed. The inner loop generates control laws for the tangent and angular velocities to control the robot to follow the target trajectory. It is derived based on the robot kinematics and the Lyapunov theory. The outer loop employs the torque method to control the robot dynamics. A neural network is implemented to compensate the uncertainties caused by the dynamics model. The asymptotic stabilization of the whole system is proven by direct Lyapunov stabilization theory. Simulations in MATLAB confirmed the validity of the proposed method.