Adaptive path tracking control design for a wheeled mobile robot

Abstract

A predefined path tracking with the help of Wheeled mobile robots (WMR) is very popular in various modern applications including agriculture, medicine and many more. The application of tracking a certain path can be achieved by using either Trajectory Tracking or Path following method. This paper makes an attempt to design a novel control law which combines the two techniques together in order to maximize the benefits provided by the two methods individually. However, the successful implementation of this task is vulnerable because of parametric uncertainties in the robot model. The solution to this problem is presented with the design of an adaptive control scheme called direct model reference adaptive control (DMRAC) which makes use of an adaptive law and continuously updates its control parameters.