Robust adaptive backstepping control for a nonholonomic mobile robot

Abstract

This paper introduces a robust adaptive control architecture for nonholonomic mobile robots. The concept of backstepping provides a bridge between the kinematics and dynamics. In previous work normally only the vehicle steering, dependent upon the kinematics are considered for vehicle control. Improved tracking performance is achieved by including vehicle dynamics and robustness compensation for variances in parameters. Numerical simulations demonstrate the effectiveness of the robust adaptive control algorithm.