Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation

Abstract

This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function approximations are used to estimate uncertain dynamics. Simulations are conducted to verify the effectiveness of the proposed controller.