抄録
This paper considers a new tracking control problem for a four-wheeled vehicle robot. The robot is a nonholonomic system described by a set of nonlinear equations and some parameters of the dynamics are uncertainties. In this paper, an adaptive practical tracking control method is proposed, and the tracking control problem of the robot system is reduced to that of a simple linear system. Accordingly, the controller design method is simple and straightforward. The obtained controller can reduce the tracking error less man or equal to any specified positive value for a given desired trajectory asymptotically. Moreover, a new and useful design method on the upper band of the tracking error is presented based on the curvature of the desired trajectory. Some numerical simulations are performed to evaluate the effectiveness of proposed controllers.
