Adaptive unified controller of arbitrary trajectory tracking for wheeled mobile robots with unknown parameters

We investigate the unified control problem of arbitrary trajectory tracking for wheeled mobile robots (WMRs) with unknown model parameters. After converting the robot model to an advantageous form by introducing coordinate transformation and input transformation as well as auxiliary dynamics, and employing Lyapunov method and adaptive technique, we develop an adaptive unified controller which ensures the tracking errors to be globally uniformly ultimately bounded (GUUB). Furthermore, the ultimate bounds of tracking errors can be made arbitrarily small by adjusting control parameters. The effectiveness of the proposed control law is validated by simulation results.