This paper proposes solutions for the robust achievement of displacement mi
ssions by a wheeled mobile robot. The considered disturbances are generated
by the use of inaccurate configuration estimates as feedback information.
Those errors are characterized in a bounded error context. We introduce a t
rajectory tracking controller whose stability is analysed by a Lyapunov fun
ction the time derivative of which is negative definite inside a large doma
in around the zero error. This property makes it possible to define a bound
ed attractive domain around the nominal trajectory, quantifying thus the gu
aranteed precision of the mission. The method is extended to a parking non-
stationary controller and illustrated by a real experiment. (C) 2001 Elsevi
er Science Ltd. All rights reserved.