This work develops a trajectory tracking control method for nonholonomic wheeled mobile robots under uncertain bounded external disturbances based on using adaptive control with disturbances observer technique for perturbations estimation and compensation. In addition, it proposes a use of an algorithm based on neural networks for optimizing the choice of control gains in order to enhance the tracking accuracy.

Самаан Н. (науч. рук. Краснов А.Ю.) Developing of trajectory tracking control method for nonholonomic wheeled mobile robots under uncertain external disturbances // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2025]. URL: https://kmu.itmo.ru/digests/article/14329