Simultaneous tracking and stabilization of mobile robots: An adaptive approach

K. D. Do, Z. P. Jiang, J. Pan

Research output: Contribution to journalArticlepeer-review


This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and back-stepping technique. Simulations illustrate the effectiveness of the proposed controller.

Original languageEnglish (US)
Pages (from-to)1147-1152
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number7
StatePublished - Jul 2004

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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