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Previous research on mobile robots has been based on models of mobile robots with invariant weight parameters. However, the most practical mobile robots that bear heavy burdens have varying weights and centres of gravity. This paper suggests a design for an adaptive PD controller that estimates and adapts to the weight-related parameters of robots that bear varying heavy burdens. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight-related parameters and the operational performance is confirmed by target tracking simulations.