Tracking control of mobile robots without constraint on velocities

Ching Hung Lee*, Ti Chung Lee, Ching Cheng Teng

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


A general tracking control problem for mobile robots is proposed and solved using the backstepping technique. A global result is given for the kinematic steering system to make the tracking error approaching to zero asymptotically. Based on our efforts, the proposed controller can solve both the tracking problem and the regulation problem of mobile robots. In particular, mobile robots can now globally follow any differentiable with bounded velocities path such as a straight line, a circle and the path approaching to the origin using the proposed controller. Moreover, the problem of back-into-garage parking is also solved by our approach. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control laws.

Original languageEnglish
Pages (from-to)2280-2287
Number of pages8
JournalIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
Issue number9
StatePublished - Sep 2001


  • Backstepping
  • Mobile robots
  • Non-linear systems
  • Time-varying system
  • Tracking

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