|Adaptive Observer-based Trajectory Tracking Control of Nonholonomic Mobile Robots
Bong Seok Park, Jin Bae Park*, and Yoon Ho Choi
International Journal of Control, Automation, and Systems, vol. 9, no. 3, pp.534-541, 2011
Abstract : In this paper, an adaptive observer-based trajectory tracking problem is solved for nonholonomic mobile robots with uncertainties. An adaptive observer is first developed to estimate the unmeasured velocities of a mobile robot with model uncertainties. Using the designed observer and the back-stepping technique, a trajectory tracking controller is designed to generate the torque as an input. Using Lyapunov stability analysis, we prove that the closed-loop system is asymptotically stable with respect to the estimation errors and tracking errors. Finally, the simulation results are presented to validate the performance and robustness of the proposed control system against uncertainties.
Keyword : Adaptive observer, backstepping, nonholonomic mobile robots, robot dynamics, robot kinematics.