State-dependent disturbance compensation in low-cost wheeled mobile robots using periodic adaptation

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in low-cost wheeled mobile robot servo control. The considered state-dependent disturbance is caused by the friction and the eccentricity between the wheel axis and the motor driver. Our proposed control algorithm guarantees the asymptotical stability for both the velocity and the position tracking. Experiment results show the effectiveness of the adaptive disturbance compensator for the wheeled mobile robot in low velocity diffusion tracking.