Lyapunov Based Trajectory Tracking Dynamic Control for a QBOT-2

Abstract

This paper presents the nonlinear kinematic and dynamic control for a QBOT2, a wheeled mobile robot (WMR). The work presents the design and simulation of a trajectory tracking controller for the system. The kinematic controller is a Lyapunov based nonlinear feedback control. The method of Backstepping is used to design the dynamic controller. The controllers are implemented on the system hardware using QUARC, a MATLAB-Simulink based software.