Trajectory Tracking Control of Mobile Robots UsingWavelet Networks

In this paper, an adaptive controller for trajectory tracking is developed for wheeled mobile robots (WMR). The system uncertainty, which may include payload variation, unknown nonlinearities and torque disturbances is estimated by a wavelet network (WN). The control law is developed based on Lyapunov theory and the learning ability of WN. The proposed controller ensures the uniformly ultimately bounded stability and guarantees that the tracking error converges to a small ball containing the origin while fulfilling the actuator constraints. The validity of the control scheme is shown by simulation results.