Feedback error learning control of trajectory tracking of nonholonomic mobile robot

Abstract

In this paper a new controller for nonholonomic system is introduced. This feedback error learning controller benefits from both nonlinear and adaptive controller properties. The nonlinear controller is used to stabilize the nonholonomic behavior of the systems. This controller is a sliding mode controller which is designed based on backstepping method. The adaptive controller tries to face with uncertainty and unknown dynamic of the mobile robot. This part uses neural network controller for adaptation. The experimental results show the effectiveness of proposed controller and suitable and robust tracking performance of a mobile robot, which is significantly better than traditional controllers.