Robust control laws for wheeled mobile robots

The paper deals with feedback control of wheeled mobile robots. The proposed controller is based on a tracking scheme where the real robot tracks a fictitious reference one with equivalent kinematical properties. A solution to the parking problem is derived from the basic tracking scheme by considering a reference vehicle which converges to the desired configuration. The goal achievement is analysed by the stability of the zero equilibrium point of the tracking state error. Simulation as well as experimental results illustrate these controllers' designs. Robustness with respect to errors in the state estimation is investigated. It is defined by the existence of a compact attractive domain around the zero error. A practical computation of such a domain is a result of this paper.