Adaptive tracking and regulation of a wheeled mobile robot with controller/update law modularity

In this paper, we develop an adaptive torque control input for Wheeled Mobile Robots (WMRs) that can be utilized in a modular manner with parameter estimate update laws to enable unified tracking and regulation. That is, provided a prediction error-based update law ensures the parameter estimate vector is bounded, all of the signals are proven to be bounded. An additional stability analysis is provided to prove that if the adaptive update law is designed such that the prediction error is square-integrable and the estimated inertia matrix is positive-definite, the WMR tracking and regulation errors are globally asymptotically forced to a control term that can be made arbitrarily small.