Adaptive tracking control of nonholonomic mobile robots by computed torque

Ti Chung Lee*, Ching Hung Lee, Ching Cheng Teng

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approaching to zero asymptotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the design of controllers. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight line, a circle and the path approaching to the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.

Original languageEnglish
Pages (from-to)1254-1259
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1999
EventThe 38th IEEE Conference on Decision and Control (CDC) - Phoenix, AZ, USA
Duration: 7 Dec 199910 Dec 1999

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