Adaptive tracking control scheme for wheeled mobile robots without measurement of longitudinal velocity

Abstract

In this paper, we propose a new adaptive trajectory tracking control scheme for wheeled mobile robots without velocity measurement. Namely, we derive a new tracking error equation without using the longitudinal velocity. Based on the tracking error equation, an adaptive tracking controller is developed for the wheeled mobile robots including motor dynamics. The proposed controller has the following features: 1)The controller does not require the measurement of the longitudinal velocity. 2)The controller has robustness not only for the weight and the moment of inertia but also for the position of the gravity center, the radius of wheel and the uncertainties of the motor. 3)it is easy to improve tracking performance by setting only one design parameter.