Dynamic modelling and control of differential-drive mobile robot

This article focuses the trajectory tracking control as well as dynamics of differential-drive mobile robot (DDMR). This article sets up the dynamic as well as kinematic models simultaneously based on the mass point center of DDMR. At first, a DDMR dynamics is created in light of Lagrangian mechanics, in which the Lagrange multipliers are acquainted with tackling the issue of nonholonomic limitations. Then, a controller including torque and speed control is put up in view of backstepping technique to handle the problem of trajectory tracking, as well as its asymptotic stability is demonstrated by Lyapunov hypothesis. At long last, the mathematical simulation results show its viability and productivity.