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Universal adaptive λ tracker for nonholonomic wheeled mobile robots moving on a plane in three-dimensional space

This paper presents a universal adaptive (lambda) -tracking control algorithm for wheeled mobile robots moving on the plane in the 3D space. The introduce control algorithm maybe considered as a dynamic version of the PD controller requiring only a knowledge of the robot kinematics. This controller preserves the convergence of the position tracking error of mobile robots to the ball of radius (lambda) > 0, where (lambda) is arbitrary but prespecified. Theoretical considerations are illustrated with simulations.