Robust tracking and regulation control for mobile robots

Presents the design of a differentiable, robust tracking controller for a mobile robot system. The controller provides robustness with regard to parametric uncertainty and additive bounded disturbances in the dynamic model. Through the use of a dynamic oscillator and a Lyapunov-based stability analysis, we demonstrate that the position/orientation tracking errors exponentially converge to a neighborhood about zero that can be made arbitrarily small, i.e. the controller ensures that the tracking error is globally uniformly ultimately bounded (GUUB). In addition, we illustrate how the robust tracking controller can be reconfigured as a variable structure controller that ensures global exponential regulation to an arbitrary desired setpoint