Trajectory-tracking Control of Two-wheeled Mobile Robot with a Cascaded Time-scale Transformation

Abstract

Trajectory-tracking control is an essential technology for the automatic operations of automobiles. However, convergence performance heavily depends on the velocity of the target trajectory. This study introduces a design method for a trajectory tracking control law with a preliminarily defined convergence performance independent of the target velocity for a target trajectory with a variable velocity. Moreover, the effectiveness of the proposed method is confirmed by computer simulation.