Adaptive Velocity Control for a Differential Drive Mobile Robot

Abstract

This paper proposes an adaptive velocity controller for a differential drive mobile robot during path following applications. First, a dynamic model including actuator dynamics with respect to the robot linear and angular velocities is derived. The controller is designed using model-reference adaptive control method in order to compensate for the uncertainties in the dynamic parameters of the robot and the actuators. The stability of the closed-loop system is analyzed based on Lyapunov stability theory. Simulation and experimental results are presented to illustrate the effectiveness of the proposed adaptive control scheme.