Robust tracking control of two-degrees-of-freedom mobile robots

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of the reference trajectory. This allows accurate positioning at low speeds, close to obstacles. The dynamics of the velocity-controlled mobile robot are considered as perturbed unity transfer from input velocity to actual velocity. It is shown that the tracking controller is robust with respect to these perturbations.