Trajectory Tracking of Autonomous Mobile Robots Using Nonlinear Dynamic Inversion

Abstract

By directly dealing with nonlinear model of the robot this paper presents dynamic inversion as a method of control for reference trajectory tracking of autonomous wheeled mobile robots. Dynamic Inversion control is a technique that guarantees asymptotic stability of the error dynamics leading to appreciable tracking of reference compared to linearised design approach. Nonlinear kinematic model of a differential drive wheeled mobile robot (WMR) is considered as plant. Experimentation has been done to show the implementability of the method in real-time on a real robot. Results are shown for tracking circle and ∞-shaped reference trajectories.