Adaptive Tracking Control of an Uncertain Nonholonomic Robot

Nan Hu, Chaoli Wang

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DOI: 10.4236/ica.2011.24045                

Abstract

In this paper, a new controller is proposed by using backstepping method for the trajectory tracking problem of nonholonomic dynamic mobile robots with nonholonomic constraints under the condition that there is a distance between the mass center and the geometrical center and the distance is unknown. And an adaptive feedback controller is also proposed for the case that some kinematic parameters and dynamic parameters are uncertain. The asymptotical stability of the control system is proved with Lyapunov stability theory. The simulation results show the effectiveness of the proposed controller. The comparison with the previous methods is made to show the effectiveness of the method in this article.

Keywords

Nonholonomic Systems, Wheeled Mobile Robot, Adaptive Control, Tracking Control

Conflicts of Interest

The authors declare no conflicts of interest.

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