Modeling and control design of differentially steered wheeled mobile robot

Abstract

In this paper, dynamic modeling and control design problems for planar motion of a differentially steered wheeled mobile robot (DSWMR) are analyzed. The dynamic model depends on the geometric configuration of the robot and helps in constructing robot trajectory. Two control design schemes are presented. In the first scheme and based on an appropriate linearized model, the control design focuses on state-feedback strategy the gains of which are determined by linear matrix inequality (LMI) approach. In the second scheme and using the original nonlinear model, a nonlinear stabilizing controller is generated by applying backstepping control approach. Robot motion control verification is attained via MATLAB/SIMULINK simulation environment for both control design schemes.