Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking

This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The control scheme consists of kinematic and dynamic controllers. The desired values of the linear and angular velocities are generated by the kinematic controller for the given trajectory. The adaptive controller designed based on the dynamic model provides the torques of the robot actuators for yielding the required velocities. The stability proofs are given for the two stage control system. Simulations also demonstrate the good performance of the proposed control scheme for trajectory tracking under the presence of the dynamic parameter uncertainties.