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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Fierro, R., Lewis, F.L.: Control of a nonholonomic mobile robot using neural networks. IEEE Trans. Neural Netw. 9(4), 589–600 (1998). https://doi.org/10.1109/72.701173
Uddin, N.: Trajectory tracking control system design for autonomous two-wheeled robot. JURNAL INFOTEL 10(3), 90 (2018). https://doi.org/10.20895/infotel.v10i3.393
Ren, C., Ji, J.-H., Yan, H.-Y., Zhang, H., Yue, J.-Z.: A backstep** control method for mobile robot path tracking. In: Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016), vol. 105 (2017). https://doi.org/10.2991/mme-16.2017.94
Chang, H., **, T.: Adaptive tracking controller based on the pid for mobile robot path tracking. In: Lee, J., Lee, M.C., Liu, H., Ryu, J.-H. (eds.) ICIRA 2013. LNCS (LNAI), vol. 8102, pp. 540–549. Springer, Heidelberg (2013). https://doi.org/10.1007/978-3-642-40852-6_55
Moqbel Obaid, M.A., Husain, A.R., Mohammed Al-kubati, A.A.: Robust backstep** tracking control of mobile robot based on nonlinear disturbance observer. Int. J. Electr. Comput. Eng. (IJECE) 6(2), 901 (2016). https://doi.org/10.11591/ijece.v6i2.9594
Xu, Q., Kan, J., Chen, S., Yan, S.: Fuzzy PID based trajectory tracking control of mobile robot and its simulation in simulink. Int. J. Control Autom. 7(8), 233–244 (2014). https://doi.org/10.14257/ijca.2014.7.8.20
Fierro, R., Lewis, F.L.: Control of a nonholomic mobile robot: backstep** kinematics into dynamics. J. Robot. Syst. 14(3), 149–163 (1997). https://doi.org/10.1002/(SICI)1097-4563(199703)14:3%3c149::AID-ROB1%3e3.3.CO;2-N
Fierro, R., Lewis, F.L.: Control of a nonholonomic mobile robot: backstep** kinematics into dynamics. In: Proceedings of 1995 34th IEEE Conference on Decision and Control, vol. 4, no. December, pp. 3805–3810 (1995). https://doi.org/10.1109/CDC.1995.479190
Hassani, I., Maalej, I., Rekik, C.: Backstep** tracking control for nonholonomic mobile robot. In: 2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET), pp. 63–68 (2020). https://doi.org/10.1109/IC_ASET49463.2020.9318221
Dagher, K., Al-araji, A.: Design of a nonlinear PID neural trajectory tracking controller for mobile robot based on optimization algorithm. Eng. Tech J. 32(4), 973–985 (2014)
Zangina, U., Buyamin, S., Abidin, M.S.Z., Mahmud, M.S.A., Hasan, H.S.: Nonlinear PID controller for trajectory tracking of a differential drive mobile robot. J. Mech. Eng. Res. Dev. 43(7), 255–269 (2020). http://eprints.utm.my/id/eprint/90651/1/UmarZangina2020_NonLinearPIDControllerforTrajectoryTracking.pdf
Kalyoncu, M., Demirbaş, F.: Differential drive mobile robot trajectory tracking with using PID and kinematic based backstep** controller. Selcuk Univ. J. Eng. Sci. Technol. 5(1), 1–15 (2017). https://doi.org/10.15317/Scitech.2017.65
Yousuf, B.M., Saboor Khan, A., Munir Khan, S.: Dynamic modeling and tracking for nonholonomic mobile robot using PID and backstep**. Adv. Control Appl. 3(3), 1–12 (2021). https://doi.org/10.1002/adc2.71
Ben Jabeur, C., Seddik, H.: Design of a PID optimized neural networks and PD fuzzy logic controllers for a two-wheeled mobile robot. Asian J. Control 23(1), 23–41 (2021). https://doi.org/10.1002/asjc.2356
Mohareri, O., Dhaouadi, R., Rad, A.B.: Indirect adaptive tracking control of a nonholonomic mobile robot via neural networks. Neurocomputing 88, 54–66 (2012). https://doi.org/10.1016/j.neucom.2011.06.035
Ahmad Abu Hatab, R.D.: Dynamic modelling of differential-drive mobile robots using Lagrange and newton-Euler methodologies: a unified framework. Adv. Robot. Autom. 02(02) (2013). https://doi.org/10.4172/2168-9695.1000107
Benchouche, W., Mellah, R., Bennouna, M.S.: The Impact of the dynamic model in feedback linearization trajectory tracking of a mobile robot. Period. Polytech. Electr. Eng. Comput. Sci. 65(4), 329–343 (2021). https://doi.org/10.3311/PPee.17127
.Vaidyanathan, A.T.A.S.: Backstep** Control of Nonlinear Dynamical Systems. Elsevier (2021)
**, G.-G., Son, Y.-D.: Design of a nonlinear PID controller and tuning rules for first-order plus time delay models. Stud. Inform. Control 28(2), 157–166 (2019). https://doi.org/10.24846/v28i2y201904
Messom, C.: Genetic algorithms for auto-tuning mobile robot motion control. Res. Lett. Inf. Math. Sci. 3(2002), 129–134 (2002). http://www.massey.ac.nz/~wwiims/research/letters/
Martins, N.A., Bertol, D.W.: Wheeled Mobile Robot Control, vol. 380. Springer, Cham (2022). https://doi.org/10.1007/978-3-030-77912-2
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-031-28725-1_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-28724-4
Online ISBN: 978-3-031-28725-1
eBook Packages: Computer ScienceComputer Science (R0)