Prescribed Performance Bound-based Adaptive Tracking Control of a Mobile Robot with Visibility Constraints

Abstract

This paper mainly investigates the tracking control problem for a mobile robot with visibility constraints. The dynamics of a two-wheeled nonholonomic mobile robot is firstly established. By considering the objective of tracking a moving target with unknown velocities, an adaptive controller is designed by utilizing backstepping technique. Furthermore, the prescribed performance bound (PPB) technique is adopted to guarantee that the moving target is always forced within the visible range of the on-board camera. Simulation results are provided to validate the theoretical results.