Trajectory Tracking Control for a Differential Drive Mobile Robot

In this paper, several trajectory tracking controllers are presented and applied to a differential drive mobile robot, this latter is a typical non-holonomic, non-linear, multi-input multi-output system. Based on the complete mathematical model of the robot, four control laws are synthesized and simulated in tracking different trajectories types. To show the performances of the controllers, a comparative study is presented, where the results are compared based on five performance indices. The effectiveness of the control laws are verified in simulation and experimentally using the robot platform Qbot-2e.