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Modeling and adaptive path control of a differential drive mobile robot

This paper proposes an adaptive dynamic-based path control for a differential drive mobile robot. The control law involves error coordinates expressed in a coordinate frame which are partially linked to the robot. The construction of the controller is based on a two-layer structure using the principle of decomposition of the control problem. Assuming that the robot parameters are unknown but constant, for the inner (velocity) control loop, an adaptive control law is designed applying estimation-based approach. The design procedure and stability analysis of the closed-loop system is performed using Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller.