Abstract
The main stream of researches on the mobile robot is planning motions of the mobile robot under nonholonomic constraints. Much has been written about the problem of motion planning under nonholonomic constraints using only a kinematic model of a mobile robot. Those methods, however, assume that there is some kind of a dynamic controller that can produce perfectly the same velocity that is necessary for the kinematic controller. Also there is little literature on the robustness of the controller when there are uncertainties or external disturbances in the dynamical model of a mobile robot. In this paper, we proposed a robust adaptive controller that can achieve perfect velocity tracking while considering not only a kinematic model but also a dynamic model of the mobile robot. The proposed controller can overcome uncertainties and external disturbances by robust adaptive technique. The stability of the dynamic system will be shown through the Lyapunov method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
