Robust tracking and regulation control for mobile robots

This paper presents the design of a new, differentiable kinematic control l aw that utilizes a damped dynamic oscillator with a tunable frequency of os cillation to achieve global uniformly ultimately bounded tracking (i.e., th e position/orientation tracking errors globally exponentially converge to a neighbourhood about zero that can be made arbitrarily small). In contrast to many of the previously developed kinematic tracking controllers, the pro posed controller can be used for the regulation problem as well; hence, a u nified framework is provided for both the tracking and the regulation probl em. To compensate for uncertainty in the dynamic model, we illustrate how t he kinematic controller can be used to design a robust nonlinear controller . Experimental results are presented to demonstrate the performance of the proposed controller. Copyright (C) 2000 John Wiley & Sons, Ltd.