This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted to the robot dynamics. To design the KC, we present a simple and effective way of actualizing the KC based on the extended nonlinear kinematic model of the differential-drive mobile robots. The stability of the tracking system with the proposed KC is proved based on the Lyapunov stability theory. Moreover, the fuzzy technique is also applied to the KC to enhance the quality of the tracking control when the reference trajectory has rapid changes in terms of coordinates or velocities. In this study, the computer simulation results show the high feasibility of the proposed KC.

本文设计了一种新型的运动学控制器（KC），该设计器设计了一种具有轨迹驱动控制中的差分驱动模型的自主移动机器人。KC负责创建传输给机器人动力学的速度参考值。为了设计KC，我们提出了一种基于差动驱动移动机器人的扩展非线性运动学模型来实现KC的简单有效的方法。基于Lyapunov稳定性理论，证明了提出的KC跟踪系统的稳定性。此外，当参考轨迹的坐标或速度发生快速变化时，模糊技术也应用于KC，以提高跟踪控制的质量。在这项研究中，计算机仿真结果表明了提出的KC的高度可行性。