Backstepping based trajectory tracking control for a four-wheel mobile robot with differential-drive steering

This paper proposed a four-wheel drive differential steering method for trajectory tracking. It designed an integral backstepping controller and constructed a simple virtual feedback variable, simplified the controller design and improved the response speed and precision of the system. It connected with the Lyapunov stability criterion which proved the design of control law with global stability. The simulation experiment results verified the effectiveness and feasibility of the control law.