Parameter Estimation and Control of Nonholonomic Mobile Robots: A Model-Based Approach

This paper presents a mathematical modeling and simulation of a nonholonomic mobile robot for the low-level control regarding the parameter change using model-based design. The model-based design methodology has been a promising technique in automotive and home appliance industries to address and validate the algorithm development, code generation and its deployment on platform. To investigate the electrical and mechanical behavior of the mobile robot, nonlinear mathematical model is constructed and is added to the control loop with the estimator to identify the parameter change. The recursive least square algorithm is used to identify the inertia and the payload of the robot to adapt the dynamic behavior before applying control law. The performance of the model-based approach is investigated on the simulation environment considering the different payloads with DC motor's constraints to track the reference trajectory using PI controller.