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

Sinan Yigit; Aziz Sezgin

Article Details

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

Authors:

Sinan Yigit | Aziz Sezgin

Publisher:

Sakarya University

Main Topics:

Mechanical Engineering

Journal:

Sakarya University Journal of Science Vol.27 Issue 1, pp.120-134

Document Type:

Article

Publication Date:

2/2023

Document Language:

English

Document ID (Org No.):

2001283964

pISSN:

2147-835X

Keywords:

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 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 proportionalintegralderivative 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.

 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 proportionalintegralderivative 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.

 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 proportionalintegralderivative 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.

 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 proportionalintegralderivative 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.

Article Details

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

Authors:

Sinan Yigit | Aziz Sezgin

Publisher:

Sakarya University

Main Topics:

Mechanical Engineering

Journal:

Sakarya University Journal of Science Vol.27 Issue 1, pp.120-134

Document Type:

Article

Publication Date:

2/2023

Document Language:

English

Document ID (Org No.):

2001283964

pISSN:

2147-835X

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

Issues

Article Details

Authors: Sinan Yigit | Aziz Sezgin

Publisher: Sakarya University

Main Topics: Mechanical Engineering

Journal: Sakarya University Journal of Science Vol.27 Issue 1, pp.120-134

Document Type: Article

Publication Date: 2/2023

Document Language: English

Document ID (Org No.): 2001283964

pISSN: 2147-835X

Issues

Authors:

Sinan Yigit | Aziz Sezgin

Publisher:

Sakarya University

Main Topics:

Mechanical Engineering

Journal:

Sakarya University Journal of Science Vol.27 Issue 1, pp.120-134

Document Type:

Article

Publication Date:

2/2023

Document Language:

English

Document ID (Org No.):

2001283964

pISSN:

2147-835X