Intelligent Control for Nonholonomic Mobile Robot Including Actuator Dynamics

Abstract

In this paper, a novel trajectory tracking control for nonholonomic wheeled mobile robot that integrates kinematic controller and adaptive dynamic controller is proposed. The wheel actuator dynamics (DC motor) is taken into account, so that the actuator input voltages are the control inputs. The proposed controller is designed such that it copes with uncertainties and external disturbances. The system stability and boundness of the tracking errors are proved using the Lyapunov stability theory. The efficacy of the developed control strategy is confirmed by simulation results.