Adaptive control of non-holonomic differential driving mobile robot

In this study, the trajectory tracking problem with adaptive control of a non-holonomic differential drive mobile robot is discussed. The mathematical model of the mobile robot is obtained kinematically and dynamically. With the kinematic backstepping controller design, the required speeds of the mobile robot for trajectory tracking were obtained based on the Lyapunov stability theory. In the dynamic equation of the mobile robot, the unknown parameters are determined, and the adaptive dynamical controller design has been implemented in a way to provide the Lyapunov stability theory. A computer simulation model was established for the trajectory tracking problem of a mobile robot, and the response of the backstepping kinematic and adaptive dynamic controllers are presented. In addition, simulations were repeated for the solid model of the mobile robot, which was schematically designed in the Matlab/Simscape/Simmechanics environment. The obtained simulation results were compared, and the accuracy of the simulations was discussed.