Adaptive trajectory tracking of WMRs based on feedback linearization technique

Abstract

This paper presents an adaptive trajectory tracking controller for a nonholonomic wheeled mobile robot in presence of parametric uncertainty in both kinematic and dynamic models. The adaptive nonlinear control law is designed based on input-output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking and parameter convergence by virtue of SPR-Lyapunov design approach.