An adaptive tracking method for non-holonomic wheeled mobile robots

In this paper, an adaptive control rule for trajectory tracking of a wheeled mobile robot is proposed in the case that the un-modeled dynamic in actuator is considered. Usually the adaptive controllers ignored the dynamic in actuator and assumed the wheels torques as the input of the robot system. This method proposed here estimates the parameters in the dynamic model and the actuator model, and using these parameters an adaptive controller is designed based on back stepping method. The adaptive control rule can not only increase the response speed, but also avoid slippage. The simulation results show the effectiveness of the proposals.