Adaptive control of electrically driven nonholonomic mechanical systems

This paper considers the motion control problem for uncertain nonholonomic mechanical systems with electric actuators, and presents two adaptive controllers as solutions to this problem. Each of the control strategies is computationally efficient, requires very little information concerning either the mechanical system or actuator models, and ensures uniform boundedness of all signals and accurate motion control. The efficacy of the proposed approach is illustrated through computer simulations with two nonholonomic mobile robots