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Trajectory Tracking of a Two-Wheeled Mobile Robot Using Backstep** and Nonlinear PID Controller

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Artificial Intelligence and Digitalization for Sustainable Development (ICAST 2022)

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Abstract

Many researchers have become interested in wheeled mobile robot (WMR) trajectory tracking control in recent years. This is due to the increased application of mobile robots in the industry, the military, the home, and public service. Classically, the movement of WMR is controlled depending on its kinematic model. However, in real-time applications, both the dynamic and kinematic models of robots and external disturbance and uncertainty affect system performance. This paper proposes backstep** combined with a Nonlinear Proportional-Integral-Derivative (NPID) controller to control a two-wheeled mobile robot (TWMR). The kinematic and dynamic models of the WMR are derived. The dynamic modeling is derived using a Lagrangian approach, and stability of the system is achieved using the Lyapunov method. The controller gains are optimized using the Genetic Algorithm optimization technique. The proposed algorithms’ performance is tested using Matlab software. The simulation result shows that the proposed method achieved preferable reference trajectory tracking with a minimum tracking error. The proposed controller outperforms the GA-based backstep** plus PID controller in terms of root-mean-square (RMS) of trajectory tracking error (47.36% in a linear and 60.32% in a nonlinear case). In addition, it shows good unknown disturbance rejection and initial point change in all scenarios.

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Authors and Affiliations

  1. Electrical Power and Control Engineering, School of Electrical Engineering and Computing, Adama Science and Technology University, Adama, Ethiopia

    Lencho Duguma Fufa & Endalew Ayenew

  2. Electrical and Computer Engineering, College of Engineering, Madda Walabu University, Bale Robe, Ethiopia

    Lencho Duguma Fufa

Authors
  1. Lencho Duguma Fufa
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  2. Endalew Ayenew
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Correspondence to Lencho Duguma Fufa .

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Editors and Affiliations

  1. Bahir Dar University, Bahir Dar, Ethiopia

    Bereket H. Woldegiorgis

  2. Western University, London, ON, Canada

    Kibret Mequanint

  3. Bahir Dar Institute of Technology, Bahir Dar, Ethiopia

    Mekuanint A. Bitew

  4. Bahir Dar University, Bahir Dar, Ethiopia

    Teketay B. Beza

  5. Bahir Dar University, Bahir Dar, Ethiopia

    Abdulkerim M. Yibre

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Fufa, L.D., Ayenew, E. (2023). Trajectory Tracking of a Two-Wheeled Mobile Robot Using Backstep** and Nonlinear PID Controller. In: Woldegiorgis, B.H., Mequanint, K., Bitew, M.A., Beza, T.B., Yibre, A.M. (eds) Artificial Intelligence and Digitalization for Sustainable Development. ICAST 2022. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 455. Springer, Cham. https://doi.org/10.1007/978-3-031-28725-1_18

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  • DOI: https://doi.org/10.1007/978-3-031-28725-1_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-28724-4

  • Online ISBN: 978-3-031-28725-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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