Cascaded feedback linearization tracking control of nonholonomic mobile robot

In this paper, we propose cascaded approach on the basis of DC motor-driven three-wheeled mobile robot, which means to drive its kinematics model with robot body as driven motor load and output velocity of DC motor as input. In the kinematics model, the error between actual output and reference path is calculated and feedback to the driven motor controller so as to design cascaded feedback linearization tracking scheme. The proof and simulation results based on Lyapunov stability show the effectiveness of the method.