A New Adaptive Tracking Control For Wheeled Mobile Robot

Abstract

Wheeled mobile robots are considered as the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers, and energy saving characteristics. A new adaptive algorithm for tracking control of these robots is presented in this paper which is robust against external and internal disturbances. A combination of model reference adaptive control and gain scheduling is used to control the robot motion. The simulation results indicate that the designed controller will preserve the robot on its desired track even though the disturbance level is of high value