Adaptive Control Applied to a Wheeled Mobile Robot - A Case Study

MARIO ALBERTO JORDÁN; GUSTAVO SCAGLIA; JORGE LUIS BUSTAMANTEGUSTAVO; VICENTE MUT

Bahía Blanca, Argentina

Jornada; V Jornadas Argentinas de Robótica (JAR 08).; 2008

Universidad Nacional del Sur (UNS)

In this work two clases of adaptive algorithms are presented and compared in performance for the trajectory tracking problem applied to wheeled mobile robots. Both approaches assume unknown dynamics parameters, and so, large uncertainties in the dynamics are embraced. While the first algorithm is completely adaptive with adaptation laws, the other one is based on interpolations on trigonometric functions of the dynamics. Moreover, both demand different amount of structural information for the controller design. A comparative study of control performance is carried out on a case study with a wheeled mobile robot Pionner 3-DX.