Trajectory control without velocity measure under influence of disturbances

The paper describes an approach to the development of the trajectory control for a mobile robot in presence of bounded unmeasurable disturbance without velocity measuring. Desired trajectory of motion is represented by smooth implicit function. Trajectory control problem is posed as a problem of maintaining the holonomic relationships between the system outputs. Control laws is synthesized using the differential geometrical method through non-linear transformation of initial dynamic model. The main results presented are the non-linear control algorithms and experimental approbation result.