Robust tracking control of two-degrees-of-freedom mobile robots

Abstract. A robust tracking controller for a mobile robot with two degrees offreedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance forlow reference velocities, the performance of this controller depends only on the geometry of the reference trajectory. This allows accurate positioning atlow speeds, close to obstacles. The dynamics ofthe velocity-controlled mobile robot are considered asa perturbed unity transfer f om input velocity to actual velocity. R is shown that he tracking controller is robust wRh respect to these penurhations