Adaptive Output Feedback Tracking Controller for Wheeled Mobile Robots with Unmeasurable Orientation

Abstract

This work addresses the trajectory tracking control problem of wheeled mobile robot without orientation measurement. We propose a new adaptive output feedback tracking controller, which estimate the unknown orientation and guarantees that the position tracking error converge to zero, while the orientation estimated error tends to zero under mild exciting conditions of the desired trajectory. Compared with previous works, the convergence of the position tracking error is independent on the convergence of the orientation estimation error. Moreover, the velocity of the desired trajectory is just required not vanishing. Numerical simulations are presented to verify the effectiveness of the proposed controller.