Abstract
This paper addresses the trajectory tracking problem of nonholonomic vehicles in the presence of uncertainties. Kinematic perturbations stem from skidding of wheels, lateral slips, parametric uncertainties in the kinematic models, external disturbances and other unknown and unpredictable kinematic features. The control algorithm should be capable of compensating these effects. Therefore, a Robust Adaptive Look-Ahead Kinematic Controller is proposed in order to stabilize the tracking errors in the presence of kinematic perturbations. On the other hand, in order to maintain the performance in the presence of dynamic parametric and nonparametric uncertainties one needs to design a dynamic control algorithm that can attenuate these effects. Consequently, a Robust Adaptive Computed Torque Dynamic Controller is elaborated for stabilizing the tracking errors. Therefore, Integrated Robust Adaptive (kinematic/dynamic) Controller which is the combination of the RALAKC and RACTDC algorithms in the presence of uncertainties is investigated. Stability of the proposed control algorithm is verified using Lyapunov method. Robustness and effectiveness of proposed controller are investigated using experimental implementations on a tractor-trailer wheeled vehicle and presented comparison results.
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