Parametric Identification and Controller Design for a Differential-Drive Mobile Robot

Abstract

This paper presents a dynamic model for a differential drive mobile robot, including the actuators effects and a methodology to parameterize the model in a linear fashion, enabling the use of the recursive least squares algorithm to identify the system parameters. In addition, two control laws are designed. The inner control loop linearizes the dynamics of the mobile robot using a linearizing state feedback and then an outer control loop tracks the linear and angular velocity references by using linear controllers. Identification and control results are shown for a real robot.