A stable adaptive-observer control algorithm, which coped with the tracking control of robot in full dynamics level without exactly measuring for robot pose, was proposed.

• 提出了一种基于观测器设计的自适应轨迹跟踪控制算法，在无法准确测量移动机器人位姿的情况下，基于其完整动力学模型，实现机器人轨迹跟踪控制问题。