Journal of Intelligent & Robotic Systems

, Volume 71, Issue 1, pp 65–83 | Cite as

Design and Implementation of an Inverse Dynamics Controller for Uncertain Nonholonomic Robotic Systems

  • Khoshnam Shojaei
  • Alireza Mohammad Shahri
  • Behzad Tabibian


This paper addresses the trajectory tracking control problem of nonholonomic robotic systems in the presence of modeling uncertainties. A tracking controller is proposed such that it combines the inverse dynamics control technique and an adaptive robust PID control strategy to preserve robustness to both parametric and nonparametric uncertainties. A SPR-Lypunov stability analysis demonstrates that tracking errors are uniformly ultimately bounded (UUB) and exponentially converge to a small ball containing the origin. The proposed inverse dynamics tracking controller is successfully applied to a nonholonomic wheeled mobile robot (WMR) and experimental results are presented to validate the effectiveness of the proposed controller.


Adaptive-robust Inverse dynamics control Nonholonomic systems Uncertainty Trajectory tracking 


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • Khoshnam Shojaei
    • 1
  • Alireza Mohammad Shahri
    • 1
  • Behzad Tabibian
    • 2
  1. 1.Mechatronics and Robotics Research Laboratory, Electronic Research Center, Electrical Engineering DepartmentIran University of Science and TechnologyTehranIran
  2. 2.School of InformaticsUniversity of EdinburghEdinburghEngland

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