Adaptive Trajectory Tracking Control System of Two-Wheeled Robot

摘要

Abstract A design of two-wheeled robot (TWR) trajectory tracking control system (TTCS) using model reference adaptive control method is presented. The TTCS is to steer the TWR track a desired trajectory. The tracking system dynamic is represented by a posture error dynamic. The posture error dynamic is derived based on the robot kinematics. Assuming small heading angles the posture error dynamic is approached by a a linear system. Model reference adaptive control (MRAC) is applied in designing the TTCS based on the linear posture error dynamic. The TTCS performace is evaluated through computer simulation. The simulation results show that the designed controller is able to make the TWR track a desired trajectory.