Control and simulation of adaptive global trajectory tracking for nonholonomic mobile robots with parameter uncertainties

Abstract

This paper addresses the problem of trajectory tracking control for the nonholonomic mobile robot with two actuated wheels. By applying adaptive control technique, an adaptive trajectory tracking controller with globally asymptotic stability is proposed for a kinematic model with unknown parameters. The global stability of the system is easily proven via the Lyapunov function and Barbalat's lemma. The simulation results are provided to illustrate the effectiveness and correctness of the controller.