Trajectory Tracking Control of Differential Driving Double-Wheeled Mobile Robot

This paper studies the trajectory tracking control for wheeled mobile robot using Bezier curve. Firstly, aiming at the pose error of wheeled mobile robot, a Line-of-sight (LOS) point pose error model is proposed, and the model is solved by numerical optimization. By using Lyapunov direct method, a trajectory tracking controller with global asymptotic stability is constructed, and the convergence and divergence of the controller are proved by using Lyapunov stability criterion. Then, the simulation model of virtual positioning is built to simulate and analyse the Bezier curve of the trajectory tracking controller, and the adaptive range of the control parameters of the trajectory tracking controller is obtained. Finally, the experimental results show that the trajectory tracking controller can suppress the divergence of pose error, and the pose error source of Los target point can promote the trajectory tracking controller to eliminate the error.