Research on Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots

摘要

Based on the kinematic model of the mobile robot, a global asymptotically stable tracking controller is designed using integral backstepping and time varying method with the virtual feedback parameter, which has the property of a hyperbolic tangent. Meanwhile, the Lyapunov theory is used to verify the stability of the controller. Considering the dynamics of the mobile robots, the limited control strategy is introduced to provide smooth motion of the robot. The simulation results show that the controller is capable of quick and precise tracking and global stablity.