A Discrete-Time Least-Squares Adaptive State Tracking Control Scheme With a Mobile-Robot System Study

This paper develops an adaptive state tracking control scheme for discrete-time systems, using least-squares algorithms, as the new solution to the long-standing discrete-time adaptive state tracking control problem. The system stability and state tracking properties are proved mathematically. The developed adaptive state tracking control scheme, combined with a newly proposed collision avoidance mechanism, is applied to a multi-robot system to achieve tracking objectives. Simulation results demonstrate its effectiveness in achieving state tracking and collision avoidance.