Prescribed performance function based control for trajectory tracking of nonholonomic mobile robots with collision avoidance

Abstract

This paper proposes a prescribed performance function based control method for trajectory tracking of non-holonomic mobile robots with collision avoidance. To design a simple controller, the prescribed performance function based algorithm that does not require the adaptive or the intelligent method to compensate the uncertainties is used. For the collision avoidance, the virtual heading angle which is derived through coordinate transformation is proposed. Since this angle is switched according to the presence of the obstacles, the low-pass filters are adopted to reduce the chattering phenomenon. Finally, the torque controller is designed using Lyapunov and backstepping methods.