Nonlinear control of a wheeled mobile robot with nonholonomic constraints

This paper proposed a novel way to design and analysis nonlinear controllers to deal with the tracking problem of a wheeled mobile robots (WMR) with nonholonomic constraints. One of the nonlinear controllers is adopted to control the system with position and torque tracking requirements simultaneously. Another one is chosen to follow the path considering with position, torque and actuator dynamics by backstepping control. Both of feedback systems are shown to be exponentially stable via Laypunov stability analysis. In order to guarantee the high performance operation of brushless DC motors (BLDCM) in such applications, the nonlinear model are accounted for increasing the precision actions through accuracy sketching nonlinear behaviours. The performances of controllers are verified through simulations.