Firstly, the mobile robot model is built based on the Lagrange function. Then the guidance angle is designed by analyzing the relationship between lateral and angular errors. The kinematics tracking controller is developed with the Backstepping approach by taking the guidance angle as a virtual input. The parameter selection criterion for the controller is also investigated. Finally, by taking the external disturbances into account, the torque controller based on the dynamic model
is obtained. Simulation results show the effectiveness of the proposed method.