An Adaptive Controller for Wheeled Mobile Robot Trajectory Tracking

In this paper, an adaptive trajectory tracking controller is developed for a wheeled mobile robot (WMR) with unknown parameters and uncertainties. In this method, a kinematics controller is used to generate a virtual velocity serving as a reference input for the dynamics control system, an on-line adaption law is introduced to estimate the unknown parameter, and an adaptive controller is designed by using the parameter estimate value. It is proved that all of signals in the closed-loop system are bounded, and that the posture tracking errors asymptotically convergence to zero. Simulation results demonstrate the effectiveness of the proposed method.