Non-linear Pose Stabilization Controller for a Differential-Drive Mobile Robot: Optimization-Based Controller Tuning

Abstract

This paper considers a dynamic model for a differential-drive mobile robot, including the actuators effects. A partial feedback linearization is applied, allowing for the use of linear control laws for the dynamics part of the robot model. Then, a cascading controller, composed by a non-linear pose controller to handle the robot kinematics and a velocity tracking controller to handle the robot dynamics is proposed. Finally, an optimization-based procedure is used to tune the controller parameters. Experimental results are presented.