Study of Mobile Robot’s Adaptive Tracking Control Based On Observer Design

A stable adaptive–observer control algorithm, which coped with the tracking control of robot in full dynamics level without exactly measuring for robot pose, was proposed. Considering the parameters of the wholly dynamic modeling of the actual mobile robot, the method combines the position–error observer with the adaptive strategy to extend the kinematics level into the full dynamic level. Simulation results confirm the validity and effectiveness of the proposed control strategy.