Open AccessPath tracking and backstepping control for a wheeled mobile robot (WMR) in a slipping environment
Author(s) -
Nabil Hassan Hadi,
Kawther K. Younus
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/671/1/012005
Subject(s) - control theory (sociology) , backstepping , kinematics , mobile robot , trajectory , nonholonomic system , overshoot (microwave communication) , computer science , slipping , robot , engineering , physics , adaptive control , control (management) , artificial intelligence , mechanical engineering , telecommunications , classical mechanics , astronomy
This work studies the motion of a two-wheeled differential drive mobile robot by presenting the kinematic and dynamic model of a nonholonomic wheeled mobile robot (WMR) with and without slip effect. The traction forces are derived and a control law designed using the backstepping method to drive the WMR to the desired trajectory. The parameters of the kinematic and dynamic controllers are tuned and modified to reach the desired performance. In addition, the input torque is controlled to avoid slip occurring. Simulation results show the effectiveness of the proposed control algorithm that is demonstrated by applying these controllers at different case studies (circular trajectory, elliptical trajectory, sinusoidal trajectory, infinity trajectory, and line trajectory), these results show good matching between desired trajectory and simulation, while the errors converge to zero rapidly. It shows good performance in minimizing the overshoot and reducing energy and the transient response time.