for a Two-Wheel Mobile Robot

In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Two-Wheel Mobile Robot (TWMR). The TWMR is an open-loop unstable, non-linear and multi output system. The main task of this design is to keep the balance of the robot while moving toward the desired position. Firstly, the nonlinear equations of motion for the robot are derived in the Lagrange form. Next, these equations are linearized to obtain two separate linear equations. Finally, two separate adaptive controllers are designed for controlling a balancing angle, and a position. By applying Lyapunov stability theory the adaptive law that is derived in this study is quite simple in its form, robust and converges quickly. Simulation results and analysis show that the proposed adaptive PID controllers have better performance compared to the conventional PID controllers in the sense of robustness against internal and/or external disturbances.