Control of nonholonomic mobile robot based on immersion and invariance adaptive control

摘要

This paper deals with control of nonholonomic mobile robot using Immersion and Invariance (I&I) adaptive control. I&I is a framework for adaptive stabilization of nonlinear systems with uncertainties parameter. We investigated the tracking control of nonholonomic mobile robot with uncertainties in dynamic and kinematics. We applied I&I adaptive control to control the angular and linear velocity of nonholonomic mobile robot. In this paper, we showed the integration of kinematic controller and torque controller for nonholonomic mobile robot. We investigated the control performance of nonholonomic mobile robot using I&I adaptive control. The results demonstrate the ability of I&I adaptive control as system velocity control of nonholonomic mobile robot.