Variable-poled tracking control of a two-wheeled mobile robot using differential flatness

This paper investigates the tracking controller design of a two-wheeled mobile robot in its kinematic model and dynamic model. Differential flatness and linear time-varying(LTV) systems' PD-spectral theory are used. Based on differential flatness, original system is transformed via a state prolongation and state transformation into a normal form to apply feedback linearization. Then using PD-spectral theory, variable poles of tracking error dynamics are assigned to realize trajectory tracking stability. Finally, simulation results are presented to demonstrate the feasibility and effectiveness of the proposed method.