Design and Implementation of Trajectory Tracking Controller for Nonholonomic Mobile Robots Based on the Lyapunov Method

In this paper, based on the Lyapunov stability theory, a novel trajectory tracking controller is proposed for nonholonomic mobile robots. In order to overcome the local stability resulted from linearization design methods, an asymptotically stable controller is designed using Lyapunov direct method. This control method breaks down nonlinear systems into low dimensional systems and simplifies the controller design using virtual auxiliary error function and partial Lyapunov functions. The stability of the system is easily proved via the Lyapunov theory. Abundant simulation and real experiment results validate the theoretical analysis.