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Trajectory tracking for mobile robot: with parameter identification and high gain observer for encoder dynamics

This paper proposes a trajectory tracking problem of a non-holonomic mobile robot with differential driven wheels. The robust controller ensures the non linear system to reach the goal position. To ensure the dynamics of the encoders for both wheels of the mobile robot, a high gain observer is used. Furthermore, in trajectory tracking control, robustness is better with control loops. The convergence of the algorithm for backstepping control was proven by the simulation results.