Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots

This paper proposes an adaptive controller for the trajectory tracking of a nonholonomic wheeled mobile robot with nonholonomic constraints in the presence of external disturbances and unknown parameters. A new scheme is proposed to design an adaptive virtual velocity controller and torque control law. Meanwhile, a disturbance observer is applied to estimate the lumped disturbance to achieve the feedforward compensation. Simulation results demonstrate the effectiveness of the proposed control scheme.