Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics

Trajectory tracking control of the non-holonomic system has attracted lots of interest recently, but little has been done in the tracking problem of t he uncertain dynamic non-holonomic systems. The paper deals with the trajec tory tracking problem of the dynamic non-holonomic systems with unknown dyn amics. New adaptive robust controllers are proposed for globally tracking p roblem. The controllers of low dimension and no singular points can make th e configuration state asymptotically track the desired trajectory. An appli cation to a wheeled mobile robot is presented, and the effectiveness of the approach is verified by simulation. Copyright (C) 1999 John Wiley & Sons, Ltd.