Tracking control for mobile robots with uncertain parameters based on Model Reference Adaptive Control

Abstract

The paper presents a Model Reference Adaptive Control algorithm for mobile robots with parameter uncertainties and unstructured dynamics to guarantee that a robot can track to desired trajectory asymptotically and avoid jerky. The controller has been designed in two consecutive parts; one is a nonlinear kinematic controller and the other is the model reference adaptive controller using the feedback signal from the mobile robot's actuator. The simulation results show the efficiency and the application ability of the proposed controller.