Low-complexity adaptive tracking control for wheeled mobile robot with actuator dynamics and unknown parameters

This paper presents a simple adaptive tracking control approach for wheeled mobile robot(WMR) with unknown parameters, as well as actuator dynamics. A robust adaptive controller is developed for WMR, which can not only compensate uncertainties in kinematic and dynamic model as well as actuator dynamics uncertainties, but also make WMR have a better performance of tracking desired trajectory. Moreover, this controller is structurally simple and computationally inexpensive. From Lyapunov-stability analysis, it is shown that all signals of the controlled closed-loop system are uniformly ultimately bounded. The effectiveness of the proposed control strategy is confirmed by systematic stability analysis and numerical simulation.