Adaptive Tracking Control of Nonholonomic Mobile Robots: A Backstepping Approach.

Abstract

This paper addresses the problem of adaptive tracking control for nonholonomic two actuated wheels mobile robot systems with unknown parameters. An adaptive tracking controller is proposed for a kinematic model of two-wheel mobile robot with unknown kinematic parameters by using integrator Backstepping approach, and the asymptotic stability of the control system is guaranteed by the Lyapunov's direct method. Furthermore, based on a further backstepping approach, an adaptive torque controller is applied to a dynamic model with unknown dynamic parameters. Simulation examples of a mobile robot with two actuated wheels are provided for illustrating the tracking ability of the controller for both the kinematic models and dynamic models.