Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering 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 multi-input multi-output systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closed-loop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.