This paper addresses trajectory tracking problem in mobile robots considering additive uncertainties. The controller design method is based on linear algebra theory. Numerical estimation techniques are used to estimate the uncertainty value in each sample time. The controller is calibrated by stochastic way using the Monte Carlo Experiment. In addition, the proof of convergence to zero of the tracking error is included. The theoretical results are validated by simulation and experimental tests. The controller proposed shows that it can be used to reduce the effect of additive uncertainties in the tracking error.

中文翻译：

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基于线性代数的移动机器人轨迹跟踪的加性不确定性估计控制器

考虑到附加不确定性，本文解决了移动机器人的轨迹跟踪问题。控制器的设计方法基于线性代数理论。数值估计技术用于估计每个采样时间内的不确定性值。使用蒙特卡洛实验以随机方式校准控制器。另外，还包括收敛到零的跟踪误差的证明。理论结果通过仿真和实验验证。提出的控制器表明，该控制器可用于减少跟踪误差中附加不确定性的影响。