Adaptive Trajectory Tracking Control for WMR based on Cascade-design Method

Abstract

This paper addresses the problem of adaptive trajectory tracking control for the wheeled mobile robot (WMR) based on cascade-design method. The condition is considered that there is a distance between the mass center of the robot and the geometrical center. The tracking error system is divided into two subsystems: the position error system and the orientation error system. In order to deal with the circumstance with the unknown parameters, an adaptive tracking control law is proposed. Simulation results illustrate the effectiveness of the proposed control methods.