Universal dynamic tracking control law for mobile robot trajectory tracking

This manuscript presents a universal control law for a class of complex dynamic systems, such as mobile robots. The trajectory tracking problem is among the major problems in the field of robotics. The proposed universal control law solves the trajectory tracking problem of mobile robots. Despite a large body of research on developing robot's control laws conducted in the literature, the dynamic effects of robots are often not taken into consideration while deriving control laws that define their trajectories. In most cases, the robot's trajectory tracking and/or stabilization problems are addressed based on its kinematic model due to simplicity. Therefore, the need for a universal control law based on the robot's dynamic and/or kinematic model is significant. Even though the feedback control theory is well-established in the field of robotics, the control laws for dynamic systems are typically more complex than system models themselves. Furthermore, control laws are required to be adapted depending on models of different mobile robot systems. Here, the development of universal control law is underscored, i.e., the paper is aimed at developing universal dynamic tracking control law that solves the trajectory tracking problem of a class of mobile robots. The controller is tested through a set of computer simulations using a differential drive mobile robot operating in an indoor planar environment