Control of a mobile robot with Actuator Dynamics for Parking and Trajectory Tracking Tasks

This paper presents a pose controller for a mobile robot that considers the full dynamic model of a differential-drive mobile robot, including the actuators effects. This model is partially linearized by a state feedback thus allowing for the use of linear control laws. Then, a cascade control law, composed of linear velocity controller and a non-linear pose controller is proposed. The parameters of the whole controller structure are tuned taking into account the parking and trajectory tracking tasks. Finally, experimental results are shown for both control objectives, which demonstrate proper performance.

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