An Adaptive Controller with Dynamic Gain Adjustment for Wheeled Mobile Robot

In this paper, an adaptive controller with dynamic gain adjustment for wheeled mobile robot, including its kinematic and dynamic, is proposed. System parameters are estimated in this controller for the reason that this controller can be easily applied to mobile robots with the same architecture. In addition, the mechanism of gain adjustment is based on fuzzy logic control, to avoid the situation of system divergence when the amount of control is saturated. The dynamic surface control is also included to reduce backstepping method for simplifying the complexity of controller. The system stability and the convergence of errors are guaranteed by Lyapunov theory. Simulation results are presented to illustrate the effectiveness and efficiency.

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