A simple adaptive control approach for trajectory tracking of electrically driven nonholonomic mobile robots

Bong Seok Park, Sung Jin Yoo, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

158 Citations (Scopus)


Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different. We also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.

Original languageEnglish
Article number5325660
Pages (from-to)1199-1206
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number5
Publication statusPublished - 2010 Sep 1


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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