Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. ,  propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different.  also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller.
['Bong Seok Park', 'Sung Jin Yoo', 'Jin Bae Park', 'Yoon Ho Choi']
I am writing a research paper on a idea A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots
[{"from": "human", "value": "I am writing a research paper on a idea A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Almost all existing controllers for nonholonomic mobile robots are designed without considering the actuator dynamics. This is because the presence of the actuator dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. ,  propose a simple adaptive control approach for path tracking of uncertain nonholonomic mobile robots incorporating actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to mobile robots that the number of inputs and outputs is different.  also adopt the adaptive control technique to treat all uncertainties and derive adaptation laws from the Lyapunov stability theory. Finally, simulation results demonstrate the effectiveness of the proposed controller."}]