Time-Varying Tracking Control of a Unicycle Mobile Robot: A Composite Lyapunov Function Approach

This work proposes the design of an adaptive robust controller for the perturbed kinematic model of the unicycle mobile robot. The controller is based on the concept of composite Lyapunov functions. The methodology ensures the stability of the tracking error despite the presence of multiplicative disturbances in the control channel. The synthesis of the proposed controller requires the solution of a set of off-line Linear Matrix Inequalities and the solution of an optimization process regarding the composite Lyapunov approach. Simulation results show the feasibility of the proposed strategy against classical controllers.