A Novel Path Following Controller for an Uncertain Wheeled Mobile Robot

Feedback linearization approach and Lyapunov tool are used to construct an adaptive control law achieving asymptotical tracking of the desired geometric path in the presence of parameter uncertainties. Backstepping technique is used to obtain the control effort in the torque level. The advantage of the control scheme lies in that it removes the restrictions of the desired longitudinal velocity of the wheeled mobile robot being always positive or negative. Simulation results show the effectiveness of the proposed control scheme.