Robust adaptive controller design for mobile robot

Presented here is a passivity technique used to design a saturated robust adaptive controller for a class of nonholonomic mobile robot subjected to input disturbances and satisfying the matched condition.The controller did not require a priori knowledge on the bounds of the disturbances and can get the estimates of the upper bounds of the disturbances via an on-line switching logic.In the course of the design,a saturated function was introduced to make the control law continuous and smooth.It was proved that the robust adaptive controller developed in this paper can guarantee that all states of the closed-loop mobile robot were bounded and asymptotically stable when the disturbances equaled zero at the equilibrium point of the open-loop mobile robot.