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IJMERR 2022 Vol.11(10): 724-736

Tracking Control for a Two-Wheel Differentially Driven Nonholonomic Mobile Robot: Performance Comparison

Fadwa Al-Momani, Asma Al-Tamimi, Ahmad Al-Jarrah, Ayat Al-Jarrah, and Mohammad Salah
Department of Mechatronics Engineering, Faculty of Engineering, The Hashemite University, Zarqa, Jordan

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.

Index Terms—discrete optimal control, discrete PID, fuzzy control, two-wheel mobile robot

Cite: Fadwa Al-Momani, Asma Al-Tamimi, Ahmad Al-Jarrah, Ayat Al-Jarrah, and Mohammad Salah, "Tracking Control for a Two-Wheel Differentially Driven Nonholonomic Mobile Robot: Performance Comparison," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 10, pp. 724-736, October 2022. DOI: 10.18178/ijmerr.11.10.724-736

Copyright © 2022 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.