Adaptive Tracking Control of Wheeled Mobile Robots
Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.
M. Zuo et al., "Adaptive Tracking Control of Wheeled Mobile Robots", Applied Mechanics and Materials, Vols. 55-57, pp. 1195-1199, 2011