Mobile robot trajectory control under influence of unknown perturbation

Abstract

The paper considers the problem of mobile two-wheeled robot control in the task of tracking a given position on the plane. The main idea is based on the use of multi-level decomposition during the synthesis of the control law. A distinctive feature of the considered problem statement is consideration of the actuator's dynamic and the influence of external unknown disturbances. Using the synthesized control law, the asymptotic convergence of the robot to the path defined on the plane is ensured.