Skip to main content
    • Aa
    • Aa

Adaptive trajectory tracking control of a differential drive wheeled mobile robot

  • Khoshnam Shojaei (a1), Alireza Mohammad Shahri (a1), Ahmadreza Tarakameh (a1) and Behzad Tabibian (a2)

This paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

Corresponding author
*Corresponding author. Emails:,
Hide All
11. Y. Yamamoto and X. Yun , “Coordinating locomotion and manipulation of a mobile manipulator,” Recent Trends Mobile Robots, World Sci. Ser. Robot. Autom. Syst. 11, 157181 (1993).

Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *



Full text views

Total number of HTML views: 1
Total number of PDF views: 61 *
Loading metrics...

Abstract views

Total abstract views: 285 *
Loading metrics...

* Views captured on Cambridge Core between September 2016 - 17th October 2017. This data will be updated every 24 hours.