Tracking and stabilization control of WMR by dynamic feedback linearization

Abstract

This paper considers the dynamic stabilization and tracking control of wheeled mobile robots (WMR) in the environments without obstacles. With reference to the dynamic model of WMR with nonholonomic constraints, a method based on the unifying framework of dynamic feedback linearization with dynamic compensator is presented for solving trajectory tracking as well as posture stabilization problems. The design procedure is discussed in the basis of dynamics model of WMR. Analysis and simulation results are provided to show the effectiveness of the designed controller.