Eslam Mohammadpour and Mahyar Naraghi
Robust adaptive control, kinematic disturbances, posture stabilization, trajectory tracking, wheeled mobile robots
This paper demonstrates the control of wheeled mobile robots (WMRs) in the presence of external disturbances and parametric uncertainties of dynamical systems violating nonholonomic nonslipping constraint. Compared to previous studies concerned with the kinematic control design, here the robust adaptive controller is developed at the dynamic level as a unified approach for both tracking and regulation problems based on the tunable dynamic oscillator. The globally uniformly ultimately bounded (GUUB) To show the performance of the proposed stability of the system to an arbitrarily small neighbourhood of the origin is proved. controllers, simulation results for typical differential drive and skid steer mobile robots are presented.
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