Trajectory tracking controller for differential-drive mobile robots

This paper describes a time-invariant controller for trajectory tracking applied to the differential-drive mobile robot (DDMR), where the interest point position is located in an arbitrary position, the extended kinematic model of DDMR is used to propose a inverse kinematic controller; where, the extended kinematic model proposes a holonomic-like model for non-holonomic system, allowing this way, the use of inverse kinematic as control strategy. The system stability is proved by according to the Lyapunov theory, concluding that the system is asymptotically stable. Simulations show a good controller performance for different trajectories proposed.