Author : Ali Mohammed Ali, Ali Hussein Mohammed Hassan M. Alwan

A differential drive wheeled mobile robots are a nonlinear multi input multi output systems. The kinematic model has been developed to control and to adjust the angular velocity of the right and left wheels. This velocity is used in the control law, to ensure stability and reduce the error by using the Lyapunov approach, where non-linear control laws are based on the development of the kinetic model in stability Lyapunov. A kinematic model by using four-state method is suggested for switching between the status of the robot and the status of the required system. It is shown that extending (four-state kinematic model) a well-known compare with a third order error model. The new kinematics control law has been introduced which allows Lyapunov-based control laws to achieve a global approximation of the system based on non-zero reference velocity requirements.

Keywords: Backstepping method, Lyapunov theory, Model Based Predictive Control

Article published in International Journal of Current Engineering and Technology, Vol.9, No.2 (March/April 2019)