A new universal adaptive tracking control law for nonholonomic wheeled mobile robots moving in R/sup 3/ space

Abstract

In this paper a new universal adaptive tracking control algorithm for nonholonomic wheeled mobile robots moving in R/sup 3/ space is presented. A dynamical control law requiring a knowledge of the robot dynamics along a desired trajectory is introduced. The proof of the exponential stability of a controllable sub-system together with the internal stability of an uncontrollable variables is completed with simulation study.