摘要：Trajectory tracking control of differential drive is done
using feedforward and feedback control law as suggested
in Klanˇcar and Skrjanc (2007), Kanayama et al. (1990), ˇ
Samson (1993), Blaˇziˇc (2014). The reference trajectory
is given as a function of time (xr(t), yr(t)) and by the
reference robot input ur consisting of translational and
angular velocity obtained by first and second derivatives
of the reference trajectory.
