In our earlier work, we proposed a synergistic design and control strategy to enable a holonomic mobile robot
transport wheelchair bound residents in long-term-care facilities. Several simplifying assumptions were made
and an adaptive control framework was proposed for wheelchair trajectory tracking. We remove some of the
limiting assumptions by considering actuator saturation and actuator dynamics in this paper. We modify the
adaptive controller and show that asymptotic trajectory tracking can be achieved provided that the reference
trajectory does not result in complete loss of control authority. In the absence of control authority, we suspend
trajectory tracking to maintain stability and revert to asymptotic trajectory tracking when control authority is
regained. Although we focus on an application for long-term-care facilities, the technology being developed will
find diverse applications such as autonomous transportation of hazardous materials.
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