Abstract
A mobile robot is suitable for a variety of applications in unstructured environments where a high degree of autonomy is required. It is one of typical systems with nonholonomic constraints, and many researchers have devoted their efforts on its tracking control. In this paper, an adaptive controller is proposed for tracking control of a nonholonomic mobile robot with consideration of unknown model parameters. This design does not need precise knowledge of the inertia matrix, Coriolis and centrifugal force. The close loop stability is proved by using the Lyapunov technique. The effectiveness of the proposed controller is demonstrated by experiments conducted on our mobile robot platform.
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.
