Abstract
This paper considers the problem of controlling both the position and the orientation of a two-wheeled mobile robot with a reduced number of actuators. The robot is a nonholonomic system described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainties. A new adaptive control system is proposed by using a Lyapunov function. The control system provides global stabilization of the robot moving on inclined surface. A numerical simulation is performed to validate the effectiveness of the proposed controller.
