Research on trajectory tracking control of nonholonomic wheeled mobile service robots

Nonholonomic wheeled mobile service 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 euqation of robot to have isolated euqilibrium 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 elosed-loop system is globally uniformly asymptotically stable at origin. Simulation results show the effectiveness of the proposed control law.