Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-02-24
2024-01-04
2023-11-02
Abstract—This research study aims to investigate various trajectory tracking control techniques for two-wheel mobile robots. First, a discrete optimal control technique is formulated to track time-varying desired trajectories, and then the performance is compared with the performance of discrete PID and fuzzy controllers. To design the discrete optimal controller, a Riccati equation is solved from a developed discrete-time linear model for the two-wheel mobile robot dynamics. Multiple numerical simulations are introduced to investigate the effectiveness of the proposed controllers.