Combination of kinematical and robust dynamical controllers for mobile robotics tracking control: (II) suboptimal L1 control

In the study, the model of mobile robots from kinematical behavior is used to design the kinematical tracking controller by using the Lyapunov stability theorem. An almost exponentially stable kinematical controller is proposed. We then consider the dynamic model of the mobile robot with the model uncertainty. Therefore, we combine kinematical almost exponentially stable control and robust L₁ tracking performance control in the paper, and this combination is suitable for wheeled vehicle systems with uncertainties and external disturbance.