A novel trajectory-tracking control law for wheeled mobile robots

In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. A nonlinear control law is constructed in the Lyapunov stability analysis framework. This control law achieves a global asymptotic stability of the system based on the usual requirements for reference velocities. The control law is extensively analysed and compared to some existing, globally stable control laws.

► New kinematic control law for mobile robots.
► Extended error model of the fourth order.
► Comparison of three Lyapunov-based control laws for mobile robots.