Indirect Adaptive Taylor Aeries Control of Differential Drive Wheeled Mobile Robots

Using Taylor series system as a universal approximator, which benefits a simpler structure in comparison with common approximators, this paper suggests an indirect adaptive controller equipped with uncertainty estimator for electrically-driven wheeled mobile robots. The proposed control scheme compensates both parametric and nonparametric uncertainties and guarantees the Ultimately Uniformly Boundedness (UUB) stability. Also, this research takes actuators' dynamics into account, and considers unknown dynamic external disturbances to the mathematical model of wheeled mobile robot in order to show the efficiency of the proposed controller by simulation results.