TRAJECTORY TRACKING CONTROL SYSTEM OF WHEELED MOBILE ROBOT BASED ON PID FEED-FORWARD

Huaizhong Chen∗ and Jianmei Ye∗

Keywords

Wheeled mobile robots, trajectory tracking kinematics, PID, feedforward control

Abstract

It is quite difficult to control the trajectory tracking of the wheeled mobile robot due to its non-complete constraints and complex characteristics. A mobile robot control strategy based on proportional integral differential (PID) feed-forward control algorithm is proposed in the paper to solve the influence of external disturbance and system uncertainty of the mobile robot system on the controller trajectory tracking performance. The uncertainty of the control system and the influence of external environment interference are eliminated through PID control. The time delay problem of trajectory tracking is solved through feed-forward control. The simulation results show that the control strategy is more suitable for the trajectory tracking control system of the mobile robot. It has strong robustness and good tracking control accuracy for the disturbance and uncertainty of the mobile robot control system so as to ensure excellent stability of the mobile robot trajectory tracking control system.

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