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Considering a general kinematical case of mobile robot, with an offset from intersection of rear wheel axis and symmetry axis, new error dynamics are derived. Using cascaded system approach, a tracking controller is constructed. The re-exponential convergence of tracking error dynamics, in combination of closed-loop controller, is guaranteed by means of cascaded system theory. Additionally, extending the result into dynamics model by adaptive approach. Simulation study validate the effectiveness and feasibility of the proposed controller both in kinematics and dynamics models.