A combined direct and indirect adaptive control scheme for a wheeled mobile robot using multiple models


9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012, Rome, Italy, 28 - 31 July 2012, vol.283, pp.167-182 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 283
  • Doi Number: 10.1007/978-3-319-03500-0_11
  • City: Rome
  • Country: Italy
  • Page Numbers: pp.167-182
  • Keywords: Combined direct and indirect adaptive control, Mobile robots, Multiple models approach, Trajectory tracking control
  • Anadolu University Affiliated: Yes


© Springer International Publishing Switzerland 2014.This chapter presents a method about trajectory tracking control of a nonholonomic wheeled mobile robot. The main focus of the chapter is to improve the transient response for the trajectory tracking control of mobile robots including dynamic parameter uncertainties. An adaptive combined direct and indirect control scheme is used for compensation of tracking errors in case of dynamic parameter uncertainties. The transient behavior for the adaptive tracking control is improved by amultiple models approach. The overall control system includes both a kinematic and dynamic controller. The kinematic controller produces linear and angular velocities required for mobile robot to track desired trajectory. The combined direct and indirect adaptive dynamic controller with adaptive multiple identification models takes these velocities as inputs and produces torques that will be applied to the robot. Simulation results indicate effectiveness of the proposed control scheme.