抄録
In this paper, we propose an improved adaptive trajectory tracking control scheme for wheeled mobile robots without using velocity measurement. At first, a modified tracking error equation is developed. Based on the modified tracking error equation, a modified adaptive tracking controller is developed. The developed controller does not require measurements of longitudinal velocity. In the control system using the controller, robust tracking control can be achieved for uncertainties of the weight, the moment of inertial and the position of gravity center. In addition, even if the characteristics of left and right motors to drive wheels are unknown and different, stable tracking control can be also achieved.
