A linear-interpolation-based controller design for trajectory tracking of mobile robots

Abstract

This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system—a mobile robot—is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.