A Comparative Trajectory Tracking Controls of a Mobile Robot

Abstract

The work presented in this paper is focused on developing robust control laws to solve the problem of traj ectories tracking of differential wheeled mobile robots pioneer 3DX. The main objective is to guarantee the correct behavior of the system and to ensure an accurate traj ectory tracking under the system parametric variations. The designed control law forces the robot to perform minimum error path tracking in order to follow a certain path to reach the final destination in a predefined time.