摘要：AbstractWe investigate an adaptive path following problem for a nonholonomic mobile manipulator system and closed planar curves. As opposed to adapting to uncertain or unknown dynamics in the plant, we apply an adaptation approach with respect to an unknown path. First, we present a solution to the non-adaptive path following problem using the concept of a path following output. Then, we use an indirect adaptive control approach to design path following controllers for a feasible class of strictly convex paths.
关键词：KeywordsMobile manipulatorspath followingclosed curvesadaptive control
