Observer-based path following control of wheeled mobile robots

The observer-based path following control problems are investigated in this work. Firstly, the state feedback path following control is reviewed briefly. Secondly, by converting the model of mobile robots to an advantageous form, an exponential convergence state observer is constructed based on position measurements. Furthermore, an observer-based path following control law is obtained by combining the state feedback control law and the proposed state observer, guaranteeing exponential convergence of the state trajectory to the desired path. Finally, simulation results show the effectiveness of the proposed observer-based path following control law.