Robust trajectory tracking algorithms for a wheeled mobile robot

Control algorithms for a wheeled mobile robot to achieve trajectory tracking are presented. A complete electromechanical model is obtained by incorporating the dynamic models of the actuators in the dynamic equations of a tricycle vehicle. The control scheme has been divided into two levels, namely, path error control and motor control. A method based on the acceleration feedback is applied at a lower level of control. Simulation results are given to illustrate the controller design procedure and the performance of the controller