In this paper, feedback tracking control for wheeled nonholonomic mobile robots is proposed based on kinematic model. Coordinate transformations are used firstly to transform the robot kinematics into chained form. Then the two controllers are designed separately and backstepping technology is used to design the controllers. The simulation results demonstrate the effectiveness of the proposed controllers.

An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.

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