Haqshenas M., Amirreza; Fateh, Mohammad Mehdi; Ahmadi, Seyed Mohammad Adaptive control of electrically-driven nonholonomic wheeled mobile robots: Taylor series-based approach with guaranteed asymptotic stability. (English) Zbl 1467.93174 Int. J. Adapt. Control Signal Process. 34, No. 5, 638-661 (2020). Summary: Taking advantage of an adaptive Taylor series approximator, this research seeks to address a two-loop robust controller for electrically-driven differential drive wheeled mobile robots. A fictitious current signal is designed in the outer loop such that the good tracking performance as well as the asymptotic stability of system will be achieved. Also, the error of currents will be minimized by an actual control input in the inner loop. For both inner/outer loops, uncertain nonlinear functions can be approximated by adaptive Taylor series systems. To validate the proposed control algorithm, numerous simulations have been carried out with two different desired trajectories and multiple initial conditions. Also, the proposed controller is compared with a recent well-designed robust adaptive fuzzy controller. In addition, to simplify the procedure of mathematical modelling of a wheeled mobile robot, the Simscape Multibody environment of MATLAB is used for 3D simulations. Cited in 1 Document MSC: 93C40 Adaptive control/observation systems 93C85 Automated systems (robots, etc.) in control theory 93D20 Asymptotic stability in control theory 70F25 Nonholonomic systems related to the dynamics of a system of particles 41A58 Series expansions (e.g., Taylor, Lidstone series, but not Fourier series) Keywords:adaptive Taylor series; asymptotic stability; simscape multibody; two-loop control; wheeled mobile robot Software:Simscape Multibody; Matlab; Simscape; SimMechanics PDFBibTeX XMLCite \textit{A. Haqshenas M.} et al., Int. J. Adapt. 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