Observer-based trajectory tracking control for a wheeled mobile robot

In this paper, nonlinear observer based trajectory tracking control for a wheeled mobile robot is proposed. The nonlinear observer is designed for not only an unmeasurable orientation error but current position error. This full-order observer shows robustness to measurement noise. Besides, a controller which exponentially stabilize the tracking error is considered. The controller-observer combination scheme globally asymptotically stabilize the system without PE condition of angular velocity, omega_r. The proof of stability is shown by means of cascaded system theory. The simulation results are given.