Koki Aizawa

Lyapunov-Certified Trajectory Tracking for Mobile Robot With a Tail Wheel: Differential-Flatness and Adaptive Backstepping Design

This paper proposes a trajectory tracking control law for a mobile robot with two front differential wheels and a tail wheel. The dynamics is given by mimicking Ackerman steering model for the dynamics of position and orientation, associated with the actuator dynamics of the tail wheel's angle model