Model Reference Adaptive Path Following for Wheeled Mobile Robots

摘要

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. Two new algorithms for tracking control of these robots are presented in this paper: an adaptive controller and a nonlinear controller. Here, the two algorithms are compared with regarding noise resistance and disturbance. A combination of model reference adaptive control and gain scheduling is used to control the robot motion by the adaptive controller. It is shown via Lyapunov method that the adaptive algorithm guarantees the stability of the system. We have also employed a feedback linearization controller, proved its stability and compared its performance with both of the aforementioned controllers. The simulation results indicate that the designed controller will preserve the robot on its desired track even though the disturbance level is of high.