Designing approach on trajectory-tracking control of mobile robot

Based on differential geometry theory, applying the dynamic extension approach of relative degree, the exact feedback linearization on the kinematic error model of mobile robot is realized. The trajectory-tracking controllers are designed by pole-assignment approach. When angle speed of mobile robot is permanently nonzero, the local asymptotically stable controller is designed. When angle speed of mobile robot is not permanently nonzero, the trajectory-tracking control strategy with globally tracking bound is given. The algorithm is simple and applied easily. Simulation results show their effectiveness.