Path tracking of differential drive mobile robot using two step feedback linearization based on backstepping

This Paper discusses Back-stepping based control strategy for path tracking of differential-drive mobile robot with nonholonomic constraints. In this Two step Feedback linearization control strategy is used to linearize kinematics and dynamics of the system. The Desired commands for linear velocity and heading angle direction are developed and by controlling the torque inputs, Mobile robot is made to track the path. Stability analysis based on Lyapunov function is made to bound the errors in position and heading angle. Simulation studies are performed with various reference trajectories to illustrate the effectiveness of developed controllers.