Robust adaptive trajectory tracking of nonlinear systems based on input-to-state stability tracking control Lyapunov functions

In this paper, we propose a trajectory-tracking controller for input-affine nonlinear systems, which guarantees robustness in the presence of both input uncertainties and external disturbances. The framework of input-to-state stability tracking control Lyapunov function(ISS-TCLF) is employed to construct a disturbance attenuation tracking controller. Then, we introduce a Lyapunov-based adaptive compensator to mitigate the effect of input uncertainties. The proposed controller guarantees that (i) the closed-loop system is input-to-state stable, and (ii) the tracking error converges to zero if the disturbance is a constant signal. Simulation results of a wheeled mobile robot validate the effectiveness of the proposed controller. Copyright (C) 2021 The Authors.