Scholarlink

<p>Mobile robots are widely used in various fields such as transport, service, agriculture, military, planetary exploration, etc. An important problem in mobile robot applications is the realization of precise control of the robot’s movement path.To achieve a successful trajectory tracking control of the differential-driven mobile robot, the speed of the two driving wheels must be precisely controlled. Several control techniques have been used, including PID controller and fuzzy controller, to control the speed of the drive wheel. In this paper, a method for reducing the trajectory tracking error using PID controller and cross-coupled controller is proposed. The PID control of the individual motor and the cross-coupling control for error compensation are implemented to reduce the trajectory tracking error. To verify the effectiveness of the proposed method, simulation with MATLAB/SIMULINK are carried out. Experimental results showed that the trajectory tracking error could be significantly reduced using the proposed method.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Trajectory tracking control of an articulated differential-driven mobile robot using a cross-coupled controller

  • 期刊论文

  • 发表日期：

    2026年2月25日

查看全文
  • Yong-Il Kim,
  • Kang-Guk Kim,
  • Kum-Pyong Kim,
  • Kum-Song Ri

摘要

Mobile robots are widely used in various fields such as transport, service, agriculture, military, planetary exploration, etc. An important problem in mobile robot applications is the realization of precise control of the robot’s movement path.To achieve a successful trajectory tracking control of the differential-driven mobile robot, the speed of the two driving wheels must be precisely controlled. Several control techniques have been used, including PID controller and fuzzy controller, to control the speed of the drive wheel. In this paper, a method for reducing the trajectory tracking error using PID controller and cross-coupled controller is proposed. The PID control of the individual motor and the cross-coupling control for error compensation are implemented to reduce the trajectory tracking error. To verify the effectiveness of the proposed method, simulation with MATLAB/SIMULINK are carried out. Experimental results showed that the trajectory tracking error could be significantly reduced using the proposed method.