An Adaptive Tracking Control Approach For Nonholonomic Mobile Robot

摘要

This paper addresses the problem of adaptive tracking control for nonholonomic mobile robot systems with unknown parameters. By using the backstepping method, an adaptive tracking controller is proposed for a kinematic model of the twowheel mobile robot with unknown kinematic parameters. The asymptotic stability of the system is guaranteed by Lyapunov's direct method. Based on the further backstepping approach, an adaptive torque controller is proposed for a dynamic model with unknown dynamicparameters. Simulation examples of a mobile robot with two actuated wheels are provided for illustrating the tracking ability of the controller.