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This paper addresses the problem of adaptive tracking control for nonholonomic two actuated wheels mobile robot systems with unknown parameters. An adaptive tracking controller is proposed for a kinematic model of two-wheel mobile robot with unknown kinematic parameters by using integrator Backstepping approach, and the asymptotic stability of the control system is guaranteed by the Lyapunov's direct method. Furthermore, based on a further backstepping approach, an adaptive torque controller is applied to a dynamic model with unknown dynamic parameters. Simulation examples of a mobile robot with two actuated wheels are provided for illustrating the tracking ability of the controller for both the kinematic models and dynamic models.
Wang et al. (Mon,) studied this question.