Sensorless model reference adaptive system control for mobile robot

Abstract

In this paper, a robust and an efficient tracking controller based on model reference adaptive system (MRAS) technique is performed for mobile robot in order to get the accurate trajectory tracking performance. The model reference adaptive system (MRAS) technique has been presented so as to achieve the estimated value of system's speed information. To estimate the rotor position and speed of the mobile robot system, the MRAS technique is one of the best methods which can be applied to the mobile robot system due to its performance in terms of decrease computational complexity, increase robustness, easy to implement to the systems. In addition, the control scheme of the mobile robot also performs the perfect speed tracking during the motion. All the simulations have verified that the proposed control algorithm is indeed feasible and effective.