Feedforward and Feedback Kinematics Controller for Wheeled Mobile Robot Trajectory Tracking
Muhammad Asif 1, Muhammad Junaid Khan 1,
Muhammad Safwan 2, and
Muhammad Rehan 2
1. National University of Sciences and Technology, Islamabad, Pakistan
2. Sir Syed University of Engineering and Technology, Karachi, Pakistan
2. Sir Syed University of Engineering and Technology, Karachi, Pakistan
Abstract—In this paper, trajectory tracking of a differential drive nonholonomic mobile robot is presented. In addition to the complex relations of the control system, the nonholonomic system adds complexity to the system which has been solved using the feed-forward and feedback fuzzy logic controllers. An innovative scheme has been developed to track the reference trajectory in the presence of model uncertainties and disturbances. The performance comparison of the proposed controller is done with the standard backstepping controller and the simulation results show that the developed controller is best suited for the tracking trajectory problems.
Index Terms—WMR, trajectory tracking, kinematics, fuzzy logic
Cite: Muhammad Asif, Muhammad Junaid Khan, Muhammad Safwan, and Muhammad Rehan, "Feedforward and Feedback Kinematics Controller for Wheeled Mobile Robot Trajectory Tracking," Jounal of Automation and Control Engineering, Vol. 3, No. 3, pp. 178-182, June, 2015. doi: 10.12720/joace.3.3.178-182
Index Terms—WMR, trajectory tracking, kinematics, fuzzy logic
Cite: Muhammad Asif, Muhammad Junaid Khan, Muhammad Safwan, and Muhammad Rehan, "Feedforward and Feedback Kinematics Controller for Wheeled Mobile Robot Trajectory Tracking," Jounal of Automation and Control Engineering, Vol. 3, No. 3, pp. 178-182, June, 2015. doi: 10.12720/joace.3.3.178-182
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