A Combined Direct and Indirect Adaptive Control Scheme for a Wheeled Mobile Robot using Multiple Models

  • Altan Onat
  • Metin Ozkan
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 283)


This chapter presents a method about trajectory tracking control of a nonholonomic wheeled mobile robot. The main focus of the chapter is to improve the transient response for the trajectory tracking control of mobile robots including dynamic parameter uncertainties. An adaptive combined direct and indirect control scheme is used for compensation of tracking errors in case of dynamic parameter uncertainties. The transient behavior for the adaptive tracking control is improved by a multiple models approach. The overall control system includes both a kinematic and dynamic controller. The kinematic controller produces linear and angular velocities required for mobile robot to track desired trajectory. The combined direct and indirect adaptive dynamic controller with adaptive multiple identification models takes these velocities as inputs and produces torques that will be applied to the robot. Simulation results indicate effectiveness of the proposed control scheme.


Combined direct and indirect adaptive control Trajectory tracking control Mobile robots Multiple models approach 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Electrical and Electronics Engineering DepartmentAnadolu UniversityEskisehirTurkey
  2. 2.Computer Engineering DepartmentEskisehir Osmangazi UniversityEskisehirTurkey

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