Abstract
Trajectory tracking is an important control problem that has been studied by many researchers. However, no studies have discussed the trajectory tracking problem for a wheeled mobile robot via the minimum projection method. This paper proposes a Tracking Control Lyapunov Function (TCLF) design that uses dynamic extension and the minimum projection method. The proposed method converges the two-wheeled mobile robot to a time-varying target state. Moreover, the effectiveness of the proposed method is validated through a computer simulation.
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