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A novel dynamic model-based trajectory tracking control law is proposed for afour-wheel differentially driven mobile robot using a backstepping techniquethat guarantees the Lyapunov stability. The present work improves the work ofCaracciolo et al. (ICRA 1999), a dynamic feedback linearization approach, byreducing the number of required assumptions and the number of state terms. Wealso thoroughly investigate on a gain tuning procedure which is oftenoverlooked for nonlinear controllers. Finally, the performance of the proposedcontroller is compared with the dynamic feedback linearization approach viasimulation results which indicate that our controller is robust even in thepresence of measurement noise and control time delay.

A robust trajectory tracking controller for four-wheel skid-steering mobile robots