Remote Discrete-Time Model Reference Adaptive Control Of A Two-Wheeled Mobile Robot

This paper demonstrates a remote discrete model reference adaptive control for a two-wheeled mobile robot where actuators, sensors and controller are distributed and interconnected by a wireless communication. Since a typical feature of wireless communication, a piecewise constant input, discrete-time controller and model of mobile robot are adopted to analyze the stability and the performance based on Lyapunov stability theory. The proposed controller accommodates the effect of uncertainties and mismatching modeling, time delay of the control plant by discrete-type adaptation laws. A prototype of mobile robot is utilized for controlling by the computer-based proposed controller through Lora wireless communication. Some experimental results are given to verify the control performance of the proposed controller.