# Adaptive Model Predictive Control of Wheeled Mobile Robots

arXiv: https://arxiv.org/abs/2201.00863 · HTML: https://mlsanity.com/paper/2201.00863/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 18 references that are in the map.
- First posted on arXiv 3 Jan 2022.

## Builds on (most cited first, 1 of 1)

- [Adaptive Model Predictive Control for High-Accuracy Trajectory Tracking in Changing Conditions](https://mlsanity.com/paper/1807.05290/) (2018)

## Abstract (arXiv)

In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is modeled as a knife edge or a skate with nonholonomic kinematic constraints and the dynamical equations are derived using the Lagrangian approach. The inputs at every time instant are obtained from Model Predictive Control (MPC) with a set of nominal parameters which are updated using a recursive least squares algorithm. The efficacy of the algorithm is demonstrated through numerical simulations at the end of the paper.