Exponentially Tracking Control of Nonholonomic Wheeled Mobile Robot based on Contraction Theory

Authors: Liu, Y., Li, M., Li, F. and Yu, H.

Journal: 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

Pages: 1820-1825

ISBN: 9781665481090

DOI: 10.1109/ROBIO55434.2022.10011793


Wheeled mobile robot is one of the well-known nonholonomic systems. In this paper, we investigate the tracking problem of nonholonomic mobile robot system. To achieve the purpose of trajectory tracking, a control scheme is proposed by using control contraction metric (CCM), which can track any feasible trajectory that remains within the contraction region. Theoretical analysis is provided to guarantee the exponential stability of the controlled nonholonomic mobile robot system. Finally, the performance of proposed control strategy is verified by the simulation of a mobile robot moving on a horizontal plane. The simulation results also show that the proposed scheme does not rely on any prior knowledge of the target trajectory.

Source: Scopus