A novel global tracking control method for mobile robots

Abstract

Concerns trajectory tracking control of mobile robots. In order to overcome the local stability resulting from design methods adapted from linearization, a global asymptotic stable controller, which both achieves global stability margin and avoids winding phenomenon, is designed using a backstepping method. This method breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual control inputs and partial Lyapunov functions. The stability of the system is easily proven via the Lyapunov function. Abundant simulation results validate the theoretical analysis.