Robust adaptive path following control of nonholonomic mobile robots with transverse function approach

In this paper, a nonlinear adaptive control strategy is developed to force nonholonomic mobile robots to follow a predefined path, despite the presence of unknown system parameters and environmental disturbances. The techniques involved in the design and analysis include using the backstepping, parameter projection techniques and a traverse function. It is shown that with our proposed controller, the reference path can be followed globally with an arbitrarily small tracking error. Simulation results demonstrate the effectiveness of our proposed controllers.