On Global Output Feedback Trajectory Tracking Control of a Wheeled Mobile Robot

摘要

In the paper, the global trajectory tracking control problem of a wheeled mobile robot is considered. Dynamical model of the robot consists of a platform, castor wheel and two rear wheels. The motion control of the robot is carried out by supplying voltage to DC motors which are installed in the axles of the rear wheels. An output feedback controller has been constructed using a backstepping design procedure and Lyapunov approach.