A practical trajectory tracking approach for autonomous mobile robots: Nonlinear adaptive H2 design

Yung Hsiang Chen, Tzuu Hseng S. Li, Yung Yue Chen

Research output: Contribution to journalArticle

3 Citations (Scopus)


A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.

Original languageEnglish
Pages (from-to)385-394
Number of pages10
JournalTransactions of the Canadian Society for Mechanical Engineering
Issue number3
Publication statusPublished - 2013 Dec 1


All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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