Tracking Control Of Nonholonomic Robots With The Difference Between The Mass Center And The Geometrical Center

With the rapid development of computer hardware technology，the rapid progresshas made been in the technology of artificial intelligence and robotics. So the control ofrobots has gradually become one of hot subjects of this fields. The research of mobilerobot motion control includes path planning,trajectory tracking and stabilization. In thispaper, a new controller is proposed by using backstepping method for the trajectorytracking problem of mobile robots with nonholonomic constraints under the conditionthat there is a distance between the mass center and the geometrical center. And anadaptive feedback controller is also proposed for the case that some kinematicparameters and dynamic parameters are unknown. The asymptotical stability of thecontrol system is proved with Lyapunov stability theory. The simulation results showthe effectiveness of the proposed controller.The paper is divided into six parts. The first part outlines the background and thecurrent research of the trajectory tracking problem of mobile robots. The second partintroduces the theory of robots and discusses the model of robots. The third partanalyzes the robot configuration with known parameters and design a controller toachieve tracking purposes. The fourth part describes the theory of adaptive control. Withan adaptive method, the fifth part discusses the nonholonomic robot with unknownparameters and design a controller to achieve tracking. The simulation results show theeffectiveness of the proposed controller. Finally, we give the conclusions and theoutlook.