This paper presents the design of a differentiable, kinematiccontrol law that utilizes a damped dynamic oscillator with a tunablefrequency of oscillation to achieve global asymptotic tracking. Providedthe reference trajectory satisfies a mild persistency of excitationcondition, we also illustrate how the proposed kinematic controller canbe slightly modified to provide global exponential tracking. Inaddition, we illustrate how the proposed kinematic controller providesfor global asymptotic regulation of both the position and orientation ofthe mobile robot; hence, a unified framework is provided for both thetracking and regulation problem
展开▼
