Adaptive Dynamic Feedback Tracking Control for Nonholonomic Mobile Robots with Unknown Visual Parameters

Based on visual servoing feedback and the chained form, the trajectory tracking control problem of uncertain nonholonomic mobile robots is addressed in this paper. A new adaptive dynamic feedback tracking controller is presented in the presence of parametric uncertainties associated with the visual system. The controller synthesis is based on Lyapunov’s direct method and back-stepping technique. The proposed dynamic tracking controllers can globally make the states of the systems asymptotically track the given trajectories. Simulation results are provided to illustrate the performance of the control law.