Trajectory controller design of mobile robot based on back-stepping procedure

The constructive modeling procedure of a nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in the differential geometry field, and their geometrical properties are also analyzed. A new trajectory controller is suggested to guarantee its convergence to a reference trajectory. The design procedure of the suggested trajectory controller is the back-stepping scheme. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to a differentially driven mobile robot system on the assumption that the trajectory planner is given.