Li Jianhua,Zhuang Jian,Wang Sun'an
(School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China)
Abstract:The trajectory tracking control problem of the uncertain wheeled mobile robot with nonholonomic constraint was analyzed.A new adaptive tracking controller with a state derivative feedback procedure was presented based on the kinematic models.In this controller an artificial field was combined with the posture error to navigate the wheeled mobile robots.The robustness of the controller was confirmed by Lyapunov stability theory,and the effectiveness of the controller was demonstrated via computer simulations and their practice．
Keywords:wheeled mobile robot;nonholonomic system;trajectory tracking;artificial field