Mobile Robot Tracking Control Based on Lyapunov Method

Abstract

This paper presents adaptive control rules, in the dynamics level, for the nonholonomic mobile robots. Adaptive controls are derived for mobile robots, using Lyapunov stability technique, for tracking a reference trajectory and stability to a fixed posture. The presented control law can render system asymptotically stabilization at a desired target. The simulation shows it has good position tracking performance. This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text.