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 (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 (SMC) and proportional–integral–derivative controller (PID) with kinematic based backstepping controller (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.
Differential drive mobile robot PID and sliding mode control kinematic based backstepping control trajectory tracking robustness test
Differential drive mobile robot PID and sliding mode control kinematic based backstepping control trajectory tracking robustness test
Birincil Dil | İngilizce |
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Konular | Makine Mühendisliği |
Bölüm | Araştırma Makalesi |
Yazarlar | |
Yayımlanma Tarihi | 28 Şubat 2023 |
Gönderilme Tarihi | 24 Temmuz 2022 |
Kabul Tarihi | 6 Aralık 2022 |
Yayımlandığı Sayı | Yıl 2023 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.