Dynamic tracking control of uncertain nonholonomic mobile robots

Abstract

We consider the tracking control of a nonholonomic mobile robot with parameter uncertainty and unknown dynamics. A new robust adaptive controller is proposed with the aid of adaptive backstepping and robust control techniques. The proposed controller guarantees that the tracking error converges to a small ball containing the origin. The ball's radius can be adjusted by control parameters. Uncertainties in both of kinematics and dynamics of mobile robots are considered of the first time in the frame of robust and adaptive control in this paper. Simulation results show effectiveness of the proposed controller.