An important issue in robotics research is path tracking control
where the robot is required to follow a certain path. The error between
the desired path and the actual path is to converge to zero.
This problem is more complicated when the robot dynamics is considered.
This paper proposes a real time trajectory tracking control
for a differential drive wheeled mobile robot (DDWMR) in
obstacle-free environment. The robot is guided to follow certain
reference path with a pre-calculated velocity profile. The controller
design and analysis of the system stability are guaranteed using
Lyapunov stability theory. The dynamic model of real DDWMR
is derived and used in the LabVIEW simulation environment for
testing the validity of designed controller. The obtained simulation
results illustrate the success of the proposed controller. Also to Test
the effectiveness of proposed controller, a comparison study with a
widely used backstepping based controller is performed.