Kinematic control of Wheeled Mobile Robot: An error based differentially flat system approach

Abstract

This paper presents a differential flatness based control scheme using the kinematic model of a Wheeled Mobile Robot (WMR). The kinematic equations have been obtained by a bijective transformation between the pose and the states of the system. The longitudinal and lateral errors in the body-fixed frame of the robot have been considered as flat outputs. Thus a novel flat system has been obtained from the kinematics and a control law has been designed to stabilize the flat system. Lyapunov stability analysis has been presented to analytically prove the global Uniformly Ultimately Boundedness (UUB) of the closed loop system for a desired trajectory. Simulation results further confirm the same for different trajectories.