Abstract
ABSTRACT This article designs a novel adaptive trajectory tracking controller for nonholonomic wheeled mobile robot under kinematic and dynamic uncertainties. A new velocity controller, in which kinematic parameter is estimated, produces velocity command of the robot. The designed adaptive sliding mode dynamic controller incorporates an estimator term to compensate for the external disturbances and dynamic uncertainties and a feedback term to improve the closed-loop stability and account for the estimation error of external disturbances. The system stability is analyzed using Lyapunov theory. Computer simulations affirm the robustness of the designed control scheme.
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