Global trajectory tracking control of nonholonomic WMRs with driving motor dynamics being considered

Abstract

In this paper global trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator, that is, driving motor dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov stability theory. Finally simulation results for tracking typical trajectory are presented.