ABSTRACT
This chapter proposes an adaptive output feedback tracking controller for nonholonomic mobile robots. The major difficulties of adaptive output feedback for nonholonomic mobile robots are caused by the simultaneous existence of nonholonomic constraints, unknown system parameters and a quadratic term of unmeasurable states in the mobile robot dynamic system as well as their couplings. The chapter also proposes a high-gain observer based scheme to address the output feedback tracking control of mobile robots in the presence of parametric uncertainties. To accomplish this, the issue of designing an adaptive state feedback controller with suitable parameter estimators to achieve asymptotic tracking is addressed. Then two high-gain observers to estimate the unknown states and substitute the estimates to the state feedback controller and parameter estimators based on the certainty equivalence principle is designed.
