| Affiliation: | CAO Zhengcai1,2,*,ZHAO Yingtao1,and WU Qidi3 1 College of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029,China 2 State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China 3 CIMS Research Center,Tongji University,Shanghai 200092,China |
| Abstract: | As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinem... |
