Analysis of steering control in vehicles with two independent left and right traction wheels

Based on the kinematic studies of motion for a vehicle equipped with a pair of motorized wheels which, by having appropriate velocities, can provide traction forces as well as steering action, a steering control strategy is derived. The angular velocities for the right and left wheels are considered, the two control inputs which cause a system to follow a desired trajectory. Assuming these inputs to be linear functions of the two errors associated with path tracking problem (position and orientation errors), through an appropriate Lyapunov function, a control policy is determined. The path tracking behaviour of a mobile robot using such a control law is demonstrated by computer simulation.<>