Robust velocity learning and position tracking of nonholonomic mobile robots

A dynamic learning controller is proposed for tracking of a nonholonomic mobile robot which enables simultaneous velocity dynamics learning and kinematic model following. In the learning controller, the inner-loop of the velocity dynamics learning controller takes part in tracking the reference velocity trajectory by learning the inverse function of robot dynamics while the outer-loop velocity controller plays a role in stabilizing the kinematic steering system to the desired reference model of the kinematic system even without using the assumption of perfect velocity tracking. All the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one uniformly and asymptotically. Experimental results are given to show the effectiveness of the presented learning control approach