Speed control of differentially driven wheeled mobile robots - Model based adaptive control

Abstract

In this paper, model-based adaptive control is presented for a differentially driven wheeled mobile robot. The controller takes into account of robot dynamics and the coupling between the motions of the two differential wheels. It can achieve better speed tracking than the commonly used model-free PID controller. Simulation studies are carried out to verify the effectiveness of the proposed approaches. © 2003 IEEE.