Abstract
This paper presents a new control structure for a non-holonomic robot. It consists of two controllers in series: a nonlinear trajectory tracking controller based on robot kinematics and a multivariable quasi-linear controller based on robot dynamics. The Lyapunov theory is used to obtain the nonlinear control law and a frequency domain design approach is employed to find the transfer functions of the quasi-linear controller. The stability and sensitivity analysis criteria are considered to increase the performance of the robot. The stabilisation time and overshoot are considerably reduced. The proposed controller is simple and insensitive to external disturbances. Simulation and real-time test results are used to evaluate the effectiveness of this new control structure.
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