Trajectory Tracking with PID and Sliding Mode Control for Differential Drive Mobile Robots


Yiğit S., Sezgin A.

2rd INTERNATIONAL CONFERENCE ON PROGRESSES IN AUTOMOTIVE TECHNOLOGIES: ICPAT 2020, İstanbul, Türkiye, 28 - 29 Aralık 2020, ss.41-48

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.41-48

Özet

Differential drive mobile robot (DDMR) is the most commonly used autonomous land vehicle type for small scale 

trajectory planning and tracking applications. In this study, two driven wheeled and one castor wheel included 

DDMR model is used for kinematic and dynamic modelling. In trajectory tracking stage, kinematic based 

backstepping control (KBBC) is operated in order to reduce robot pose (position and orientation) error via 

kinematic model of the system. Sliding mode control (SMC) and proportional–integral–derivative controller (PID 

control) are separately implemented to the dynamic model for controlling dc motors of wheels which is requisite 

for tracking of given reference trajectory. Mathematical modeling of the DDMR and control strategies are 

simulated in software and results demonstrate that both SMC and PID control strategies with KBBC provide 

robust, smooth and accurate trajectory tracking performance. Because of the better SMC error performance in this 

study, it is foreseen that SMC can be better choice for more complex trajectory and environment conditions.