Dynamic robust path following control of a wheeled mobile robot with uncertainties

A geometric function of target path was used to model tracking error, turning the path following problem under study into one of output regulation which was solved by backstepping a kinematic-dynamic mixed control law derived from input-output linearization method based on the dynamic model of the system. A Lyapunov-like method was used to derive parameter adaptation laws that ensured the asymptotical tracking of the target path despite the unknown constant parameters. Asymptotical convergence of the robot to the target path was proved and the numerical simulation results show the effectiveness of the control scheme.