Tracking control of wheel mobile robot (WMR)

Abstract

The objective of this thesis is to present a tracking control of wheel mobile robot based on kinematic mathematical model. At two wheel mobile robot, the purpose of a tracking control is to improve the performance of robot tracking at various time varying paths. Producing backstepping controller algorithm for wheel mobile robot (WMR) is used to minimize the tracking error. In this thesis, robust control technique that based on backstepping theory is presented for control at the wheel mobile robot system. The performance of the wheel mobile robot at various time varying path and the effect of variation d , the distance between centre point to driving wheels axis, have been analyzed by using SIMULINK, MATLAB software. It is found the error of driving, lateral and orientation direction can be minimized and satisfactory performance has been achieved.