Robustness problem in control of wheeled mobile robot

This paper considers the robustness of trajectory – control problem of the nonlinear Wheeled Mobile Robot. The equation of motion for the front steered wheels is used via the Lagrange's equation. In this paper we design a control algorithm in which we detect trajectory errors by finding the difference between desired and actual quantities determined in joint space. A trajectory following control algorithm contains PD control law and dynamic model of the WMR. This paper demonstrates the computed torque method proposing a new approach to the tracking control of rigid WMR. The effect of the nonlinear model-based control is illustrated by simulation results which are presented.