Abstract
This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function approximations are used to estimate uncertain dynamics. Simulations are conducted to verify the effectiveness of the proposed controller.
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