Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots

Authors : Sinan YİGİT, Aziz SEZGİN

Pages : 120-134

Doi:10.16984/saufenbilder.1148158

View : 20 | Download : 10

Publication Date : 2023-02-28

Article Type : Research Paper

Abstract :Mobile robot concept is one of the most commonly used nonholonomic system for industrial and academic autonomous applications. There are many types of mobile robot design concepts and control strategies which have been continuously developed by researchers. In this study, two wheeled differential drive mobile robot insert ignore into journalissuearticles values(DDMR); is used for trajectory tracking study under different conditions. Reference trajectory, dynamic and kinematic motion models of DDMR are defined as mathematical expressions in computer software. For tracking the reference trajectory, error between current pose and reference pose was decreased by sliding mode controller insert ignore into journalissuearticles values(SMC); and proportional–integral–derivative controller insert ignore into journalissuearticles values(PID); with kinematic based backstepping controller insert ignore into journalissuearticles values(KBBC); respectively. A reference path which consists of sinusoidal and linear parts tracked by both controller combinations in first simulation to examine controller tracking performances. In order to examine and compare; responsiveness, stability and robustness of the controllers, an additional mass which affects motion dynamics of DDMR vertically added to the mobile robot body during trajectory tracking application. All results and discussions are comparatively stated at the end of the study with related error figures and evaluations.
Keywords : Differential drive mobile robot, PID and sliding mode control, kinematic based backstepping control, trajectory tracking, robustness test