Control synchronization of differential mobile robots

H. Nijmeijer, A. Rodriguez Angeles

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic


In this paper a synchronization controller for differential mobile robots is proposed. The synchronization goal is to control the angular position of each wheel to a desired trajectory and at the same time the differential (or synchronization) error between the angular positions of the two wheels. In this way it is ensured that the mobile robot follows the desired path trajectory with the proper orientation. The controller is based on a computed torque architecture and a set of observers to estimate the angular velocity of the wheels so that the controller only requires angular position measurements of the wheels
Original languageEnglish
Title of host publication6th IFAC symposium on nonlinear control systems, NOLCOS 2004, September 1-3, 2004, Stuttgart, Germany
EditorsF. Allgoewer
Place of PublicationStuttgart, Germany
Publication statusPublished - 2004


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