Trajectory tracking control of nonholonomic wheeled mobile robots: Combined direct and indirect adaptive control using multiple models approach


9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012, Rome, Italy, 28 - 31 July 2012, vol.2, pp.95-104 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2
  • City: Rome
  • Country: Italy
  • Page Numbers: pp.95-104
  • Keywords: Combined direct and indirect adaptive control, Multiple models approach, Nonholonomic wheeled mobile robots, Trajectory tracking control
  • Anadolu University Affiliated: Yes


This paper presents a novel methodology for the trajectory tracking control of nonholonomic wheeled mobile robots using multiple identification models. The overall control system includes two stages. In the first stage, a kinematic controller developed by using kinematic model provides the required linear and angular velocities of the robot for tracking a reference trajectory. In the second stage, the required velocities are taken as the inputs to an adaptive dynamic controller which uses multiple adaptive models for the parameter identification. The proposed adaptive dynamic controller is developed using a combined direct and indirect adaptive control approach where both prediction and tracking errors are used for identification. Simulation results show the effectiveness of the proposed combined direct and indirect control scheme and multiple models approach.