Trajectory tracking control of nonholonomic wheeled mobile robots

Nonholonomic wheeled mobile robot´s posture error model denoted by Cartesian coordinates in local coordinates is established. A novel nonlinear state feedback trajectory tracking control law is proposed, which causes closed-loop system state space equation of robot to have isolated equilibrium state at origin. Through analysing the local uniform asymptotical stability at origin and the instability of isolated boundary equilibrium state at non-origin under the proposed trajectory tracking control law, the scale of control parameters is confirmed. By Lyapunov candidate function method, this paper concludes that the closed-loop system is globally uniformly asymptotically stable at origin. Simulation results show the effectiveness of the proposed control law.