Robust adaptive control of nonholonomic wheeled mobile robot

This paper proposes a robust adaptive control algorithm for nonholonomic mobile robot locomotion based upon the Lyapunov direct method. In this scheme, if the velocity error is greater than the prespecified error bound, the feedback gains are adjusted adaptively such that the predetermined trading error precision is achieved under disturbances. If there exist no disturbances, the proposed algorithm guarantees global convergence of overall system and zero tracking velocity error. And also, to improve the position trading performance, a position error feedback term is added to the control law. Computer simulations demonstrate the effectiveness of the scheme.<<ETX>>