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Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties

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2 Author(s)
Wenjie Dong ; Dept. of Electr. & Comput. Eng., Univ. of Siegen, Germany ; K. -D. Kuhnert

This paper considers the tracking-control problem of a nonholonomic wheeled mobile robot with both parameter and nonparameter uncertainties. A robust adaptive controller is proposed with the aid of the adaptive backstepping technique and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small hall containing the origin. The hall's radius can be adjusted by control parameters. The proposed controller is successfully implemented in our simulator.

Published in:

IEEE Transactions on Robotics  (Volume:21 ,  Issue: 2 )