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.

中文翻译：

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电动非完整轮式移动机器人的自适应控制：基于泰勒级数的方法，具有渐近稳定性

本研究利用自适应泰勒级数逼近器，致力于解决电动差动驱动轮式移动机器人的两环鲁棒控制器。在外部环路中设计了一个虚拟电流信号，从而可以实现良好的跟踪性能以及系统的渐近稳定性。同样，通过内部环路中的实际控制输入，可以将电流误差降至最低。对于内部/外部环路，不确定的非线性函数都可以通过自适应泰勒级数系统近似。为了验证所提出的控制算法，已经对两个不同的期望轨迹和多个初始条件进行了许多仿真。此外，将提出的控制器与最近设计良好的鲁棒自适应模糊控制器进行了比较。此外，