Dynamic modeling and tracking for nonholonomic mobile robot using PID and back‐stepping

Yousuf, Bilal M; Khan, Abdul Saboor; Khan, Sana

doi:10.1002/adc2.71

Cited by 8 publications

(7 citation statements)

References 9 publications

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“…Robot linear velocity is the average of each wheel's linear velocity as in (3). Robot angular velocity can be calculated from the difference between right and left wheel linear velocity as in (4). If the right wheel velocity is bigger than the left, the robot will turn left and vice versa.…”

Section: Differential Drive Wheeled Mobile Robot Kinematicmentioning

confidence: 99%

See 1 more Smart Citation

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Auzan

Hujja

Fuadin

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

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Differential drive wheeled mobile robot (DDWMR) is one example of a robot with a constrained movement, Multiple Input Multiple Output (MIMO), and nonlinear system. Designing a low resource position and heading controller using linear MIMO methods such as LQR became a problem because of the linearization of robot dynamics at zero value. One of the solutions is to design a MIMO controller using a Single Input Single Output (SISO) controller. This work design a controller using PID for DDWMR Jetbot and selects the best feedback gain using different scenarios. The designed controller manipulates both motors by using calculated control signal to achieve a complex task such as path tracking with robot position in x-Axis, y-Axis, and heading angle as the feedback. The priority between position and heading angle can be adjusted by changing three feedback gains. The controller was tested, and the best gain was selected using Integral Absolute Error (IAE) metrics in a path tracking task with four different path shapes. The proposed methods can track square, circle, and two types of infinity shape paths, with the less well-formed shape being the four edges square path.

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Section: Differential Drive Wheeled Mobile Robot Kinematicmentioning

confidence: 99%

“…A wheeled robot driven only by two motors to move from one position to another is called a different drive-wheeled mobile robot (DDWMR). DDWMR is a robot with a nonholonomic system; it means the robot cannot move freely in all axes because there is movement constrain applied [4].…”

Section: Introductionmentioning

confidence: 99%

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Auzan

Hujja

Fuadin

et al. 2021

Jurnal Ilmiah Teknik Elektro Komputer Dan Informatika

View full text Add to dashboard Cite

show abstract

“…In the past few decades, substantial progress has been made in the field of tracking control for wheeled mobile robots (WMR) through the application of nonlinear control theory [5][6][7]. Among these control methodologies, linearization controllers, such as the flatness controller [8], have risen as a popular approach that can significantly simplify the controller design process.…”

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Abadi,

Ayeb,

Labbadi

et al. 2024

Sensors

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This paper proposes a robust tracking control method for wheeled mobile robot (WMR) against uncertainties, including wind disturbances and slipping. Through the application of the differential flatness methodology, the under-actuated WMR model is transformed into a linear canonical form, simplifying the design of a stabilizing feedback controller. To handle uncertainties from wheel slip and wind disturbances, the proposed feedback controller uses sliding mode control (SMC). However, increased uncertainties lead to chattering in the SMC approach due to higher control inputs. To mitigate this, a boundary layer around the switching surface is introduced, implementing a continuous control law to reduce chattering. Although increasing the boundary layer thickness reduces chattering, it may compromise the robustness achieved by SMC. To address this challenge, an active disturbance rejection control (ADRC) is integrated with boundary layer sliding mode control. ADRC estimates lumped uncertainties via an extended state observer and eliminates them within the feedback loop. This combined feedback control method aims to achieve practical control and robust tracking performance. Stability properties of the closed-loop system are established using the Lyapunov theory. Finally, simulations and experimental results are conducted to compare and evaluate the efficiency of the proposed robust tracking controller against other existing control methods.

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“…The structural features of the mobile robot and the constraints governing the problem have led to the expression of non-holonomic constraints in the dynamic equations of motion. Therefore, this type of robot has been the focus of many robotics researchers [1][2][3]4,6,14,15]. Mallahi and Nazimzadeh presented the modeling of the nonlinear dynamics of the tractor-trailer mobile robot by considering the dynamics of the wheels of the tractor robot.…”

Section: Introductionmentioning

confidence: 99%

Position and Speed Control of the Tractor-Trailer Robot by Considering the Dynamics of the Tractor Wheels Using the PID Controller

Mallahi Kolahi,

nazemizadeh,

safari

2023

MASM

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As a subset of mobile robots, the tractor-trailer mobile robot has been widely used in various applications in the past decades, including rescue, fire and military missions, due to its advantages, such as a more extensive working space, high maneuverability, and load-carrying capacity has been used. One of the main challenges in controlling the tractor-trailer robot's speed is the tractor drive's dynamics. In this article, to complete the modeling after investigating the kinematic and dynamic equations the tractor-trailer robot, coupled dynamics have been presented by considering the dynamics of the tractor wheels. In the following, using the coupled dynamics, a suitable controller has been designed to control the robot's speed to achieve the desired value and the position point by point. Various simulations are presented to demonstrate the dynamic performance and the proposed controller. According to the simulation results, the presented theory improves the performance of the designed control system.

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Dynamic modeling and tracking for nonholonomic mobile robot using PID and back‐stepping

Cited by 8 publications

References 9 publications

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot

Robust Tracking Control of Wheeled Mobile Robot Based on Differential Flatness and Sliding Active Disturbance Rejection Control: Simulations and Experiments

Position and Speed Control of the Tractor-Trailer Robot by Considering the Dynamics of the Tractor Wheels Using the PID Controller

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