Adaptive-robust feedback linearizing control of a nonholonomic wheeled mobile robot

This paper addresses the trajectory tracking control problem of a nonholonomic wheeled mobile robot in presence of modeling uncertainties. A trajectory tracking controller is proposed by combination of an adaptive feedback linearizing controller and an adaptive robust PID control law. A SPR-Lypunov stability analysis demonstrates that tracking errors and parameters estimation errors are globally uniformly ultimately bounded (GUUB) and exponentially converge to a small ball containing the origin. The proposed adaptive-robust tracking controller is successfully applied to a nonholonomic wheeled mobile robot and experimental results are presented to validate the effectiveness of the proposed controller.