Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking

  title={Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking},
  author={Emine Canigur and Metin Ozkan},
  journal={2012 International Symposium on Innovations in Intelligent Systems and Applications},
This paper presents a model reference adaptive control (MRAC) scheme for trajectory tracking of a nonholonomic wheeled mobile robot (WMR) in presence of parametric uncertainty in its dynamic model. The control scheme consists of kinematic and dynamic controllers. The desired values of the linear and angular velocities are generated by the kinematic controller for the given trajectory. The adaptive controller designed based on the dynamic model provides the torques of the robot actuators for… CONTINUE READING
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