Trajectory tracking control of wheeled mobile robots based on disturbance observer

This paper proposes a novel control scheme for the trajectory tracking of the wheeled mobile robot with nonholonomic constraints and external disturbances. Firstly, a kinematic controller is designed to make the position error asymptotically stable. Then, a dynamic controller is constructed to make the real velocities converge to the reference velocity inputs asymptotically. At the same time, a disturbance observer is applied to estimate the external disturbance of the dynamic model to realize the feedforward compensation. Simulation results demonstrate the effectiveness of the proposed control scheme.