Robust control of a mobile robot system with kinematic disturbances

Presents the design of a differentiable, robust tracking controller for a mobile robot system. The controller provides robustness with regard to a bounded disturbance that violates the nonholonomic pure rolling and non-slipping constraint. Through the use of a dynamic oscillator and a Lyapunov-based stability analysis, we demonstrate that the position and orientation tracking errors exponentially converge to a neighborhood about zero that can be made arbitrarily small (i.e., the controller ensures that the tracking error is globally uniformly ultimately bounded, GUUB). In addition, we illustrate how the proposed tracking controller can also be utilized to achieve GUUB regulation to an arbitrary desired setpoint. Simulation results are presented to demonstrate the performance of the proposed controller.