Variable-poled Tracking Control of a Two-wheeled Mobile Robot Using Differential Flatness

Abstract

This paper investigates the tracking control of a two-wheeled mobile robot in both kinematic and dynamic models. Differential flatness and PD-spectral theory are used for controller design. Based on differential flatness, the original system is transformed via a state prolongation and a state transformation into a normal form to apply feedback linearization. Then using PD-spectral theory, variable poles of tracking error dynamics are assigned to realize the stability of trajectory tracking. Simulation results are presented to demonstrate the effectiveness of the proposed method.