Trajectory tracking control of nonholonomic mobile robots

Abstract

The trajectory tracking control problem of the kinematic model of a mobile robot with nonholonomic constraints is discussed. Given some mild conditions, the reference model can be globally tracked with exponential convergence. The method especially solves the tracking problem of the reference model whose angular velocity and linear velocity both tend to zero. The method is also extended to the dynamic extension model of nonholonomic mobile robots. Simulation results validate the theoretical results.