Adaptive control of nonholonomic wheeled mobile robot with unknown parameters

This paper deals with the trajectory tracking control problem of nonholonomic wheeled mobile robot. First a kinematic controller is designed for WMR. Secondly, an adaptive dynamic controller is proposed to make mobile robot achieve velocity command, with consideration of unknown model parameters. The stability of the controllers is proven by utilizing the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes.