Double closed loop controller of wheeled mobile robot for trajectory tracking based on back-stepping and Lyapunov method

Abstract

A new trajectory tracking controller for a wheeled mobile robot based on backstepping and Lyapunov approach is presented. The proposed controller is developed based on the kinematic model and dynamics model of wheeled mobile robot. Firstly, the kinematic controller is designed by using back-stepping control method. Secondly, according to the dynamic model of multi input static coupling, the virtual control is used to decouple the dynamic model, and then the dynamic controller is designed by using the Lyapunov method. The output of the kinematic controller is used as the input reference of the dynamics controller. The simulation results show that the designed control scheme has a better dynamic performance and steady state performance, and has a certain practical value in tracking the trajectory of wheeled mobile robots system.