Adaptive output feedback tracking control of a nonholonomic mobile robot

@article{Huang2014AdaptiveOF,
  title={Adaptive output feedback tracking control of a nonholonomic mobile robot},
  author={Jiangshuai Huang and Changyun Wen and Wei Wang and Zhong-Ping Jiang},
  journal={Automatica},
  year={2014},
  volume={50},
  pages={821-831}
}
An adaptive output feedback tracking controller for nonholonomicmobile robots is proposed to guarantee that the tracking errors are confined to an arbitrarily small ball. The major difficulties are caused by simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. To overcome these difficulties, we propose a new adaptive control scheme including designing a new… CONTINUE READING
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3 Excerpts

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