Robust adaptive controller for wheel mobile robot with disturbances and wheel slips

In this paper an observer based adaptive control algorithm is built for wheel mobile robot (WMR) with considering the system uncertainties, input disturbances, and slips. Firstly, model of kinematic dynamic loops shown presence disturbances uncertainties. Next, controller nonlinear mismatched disturbance systems on presented in detail. The includes two parts, first one stability purpose later compensation. After that scheme applied both system. paper, closed which consists convergence observers mathematically analysed Lyapunov theory. Moreover, proposed does not require complex calculation so it easy implementation. Finally, simulation method existed to verify correctness effectiveness scheme. results show introduced gives good performances even desired trajectory complicated working condition hard.