Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties

Authors:
Wenjie Dong;K. -D. Kuhnert
Affiliations:
Dept. of Electr. & Comput. Eng., Univ. of Siegen, Germany;-
Venue:
IEEE Transactions on Robotics
Year:
2005

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Abstract

This paper considers the tracking-control problem of a nonholonomic wheeled mobile robot with both parameter and nonparameter uncertainties. A robust adaptive controller is proposed with the aid of the adaptive backstepping technique and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small hall containing the origin. The hall's radius can be adjusted by control parameters. The proposed controller is successfully implemented in our simulator.