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A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique is used to derive the global uniformly asymptotical stable controllers for two subsystems. And the global uniformly asymptotical stability of the whole system is proved using the stability theory of cascaded system. Simulation results are presented to demonstrate the effectiveness of proposed method.