Optimization-based nonlinear control laws with increased robustness for trajectory tracking of non-holonomic wheeled mobile robots

This paper presents the integration of kinematic and dynamic trajectory tracking control problem for non-holonomic wheeled mobile robots (WMRs) in the presence of model uncertainties and disturbances. The non-holonomic constraints, inherent nonlinearities and model uncertainties of WMRs are the main difficulties arising in trajectory tracking control for these systems. To address this problem, after modeling of a WMR incorporating wheel actuators dynamics, optimization-based nonlinear control laws are analytically developed for the kinematic and dynamic based controllers using the prediction of WMR responses. The tracking precision is more increased, under disturbances and uncertainties by appending the integral feedback technique to the design method. The performed analyses as well as the simulation results show that the tracking errors are remarkably decreased by the proposed control system in the presence of model uncertainties and disturbances. Finally, the effectiveness of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulation results.