Simultaneous stabilization and tracking of wheeled mobile robots via chained form

A time-varying controller is proposed to simultaneously solve the stabilization and the tracking problem of wheeled mobile robots via their equivalent chained form. The control is designed based on Lyapunov´s direct method and the backstepping technique. The outstanding feature of the proposed controller is computationally simple due to its full use of the existing results on stabilization and tracking control for the equivalent chained form systems of wheeled mobile robots. Simulation results for a wheeled mobile robot are provided to illustrate the effectiveness of the proposed controller.