Dynamic Trajectory Tracking Control of Mobile Robot

Abstract

Aiming at the trajectory tracking control of a rigid mobile robot driven by two rear wheel differential actuation, an inverse trajectory tracking control strategy is proposed based on the dynamic model of the robot system and the backstepping method. The inverse method is used to improve the global asymptotic stability of the system. According to the Lyapunov stability theory, the dynamic system of mobile robot is divided into several stable subsystems, and a backstepping control law is designed to track the given trajectory accurately. Simulation results show the effectiveness of the control strategy.