Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots
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 dr...
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Sakarya University
2023-02-01
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| Series: | Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi |
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| Online Access: | https://dergipark.org.tr/tr/download/article-file/2554973 |
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| author | Sinan Yigit Aziz Sezgin |
| author_facet | Sinan Yigit Aziz Sezgin |
| author_sort | Sinan Yigit |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-c8704b8c0541429bafc1d1e03e57c8b1 |
| institution | DOAJ |
| issn | 2147-835X |
| language | English |
| publishDate | 2023-02-01 |
| publisher | Sakarya University |
| record_format | Article |
| series | Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi |
| spelling | doaj-art-c8704b8c0541429bafc1d1e03e57c8b12025-08-20T02:40:20ZengSakarya UniversitySakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi2147-835X2023-02-0127112013410.16984/saufenbilder.114815828Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile RobotsSinan Yigit0https://orcid.org/0000-0002-4417-8586Aziz Sezgin1https://orcid.org/0000-0001-6861-5309ISTANBUL UNIVERSITY-CERRAHPASAISTANBUL UNIVERSITY-CERRAHPASAMobile 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.https://dergipark.org.tr/tr/download/article-file/2554973differential drive mobile robotpid and sliding mode controlkinematic based backstepping controltrajectory trackingrobustness testdifferential drive mobile robotpid and sliding mode controlkinematic based backstepping controltrajectory trackingrobustness test |
| spellingShingle | Sinan Yigit Aziz Sezgin Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi 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 |
| title | Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots |
| title_full | Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots |
| title_fullStr | Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots |
| title_full_unstemmed | Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots |
| title_short | Trajectory Tracking via Backstepping Controller with PID or SMC for Mobile Robots |
| title_sort | trajectory tracking via backstepping controller with pid or smc for mobile robots |
| topic | 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 |
| url | https://dergipark.org.tr/tr/download/article-file/2554973 |
| work_keys_str_mv | AT sinanyigit trajectorytrackingviabacksteppingcontrollerwithpidorsmcformobilerobots AT azizsezgin trajectorytrackingviabacksteppingcontrollerwithpidorsmcformobilerobots |