Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot

ANDALUZ, V.; ROBERTI F; TOIBERO JM; CARELLI R; WAGNER, B

LECTURE NOTES IN COMPUTER SCIENCE

Springer-Verlag

Lugar: Berlin; Año: 2011 vol. 7101 p. 563 - 574

0302-9743

This work presents a new adaptive dynamic control to solve the path following problem for the unicycle-like mobile robot. First, it is proposed a dynamic modeling of a unicycle-like mobile robot where it is considered that its mass center is not located at the center of the wheels´ axle. Then, the design of the control algorithm is presented. This controller design is based on two cascadesd subsystems: a kinematic controller with command saturation, and an adaptive dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov´s method. Experimental results show a good performance of the proposed controller as proved by the theoretical desing.