A new on-line observer-based controller for wheeled non-holonomic mobile robots

Abstract

In this paper, a new on-line observer-based controller is developed to implement trajectory tracking for wheeled non-holonomic mobile robots. The proposed approach is designed to track a user-specified trajectory which is not required to be pre-specified. A novel estimation technique is presented leading to short transient estimation period with reasonable overshoot which are hard to achieve using available estimators. The tracking and regulation functions are implemented using a two-component control strategy based on the estimated states. Applications of the proposed technique to different case studies are presented to illustrate the effectiveness of the developed approach.