Adaptive Control of an Uncertain Differential Drive Robot

This paper proposes an adaptive trajectory tracking control scheme for differentially driven robots in the state of unknown kinematic and dynamic model parameters and uncertain external disturbances. The main idea is to design an adaptive controller to reduce the influence of unknown dynamic parameters and unknown parameters of the kinematic model. A kinematic controller is first designed to generate virtual velocities as reference inputs for dynamic control systems. The kinematic controller is then designed so that the actual velocity tracks the virtual velocity asymptotically. The robot can reach the expected speed and let the attitude error converge quickly. This approach enables the robot to quickly follow the desired trajectory. Finally, the effectiveness of the method is proved by MATLAB simulation.