Robust learning of mobile robotic motion

This paper presents a robust learning controller for tracking of nonholonomic mobile robot which enables kinematic steering and velocity dynamics learning of mobile robot system simultaneously. In the learning controller, the velocity dynamics learning control takes part in tracking of the reference velocity trajectory by learning the inverse function of robot dynamics while the reference velocity control input plays a role in stabilizing the kinematic steering system to the desired reference model of kinematic system even without using the assumption of perfect velocity tracking. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one uniformly and asymptotically. The proposed learning controller is applied to robotic soccer system to prove its feasibility and effectiveness.