Design of Double-Loop Trajectory Tracking Control System for Mobile Robot

Zhongwei Ji, Kang Zhao, Yan Ding, Tingrui Liu

2023

Abstract

A mobile robot means that it can autonomously perform real-time motion in a designated location, integrating functions such as autonomous decision-making, path planning, information collection, and motion control. For mobile robots used in various fields, motion control is the premise to achieve various tasks, and trajectory tracking control is one of its main technologies. This paper mainly aims at the trajectory tracking of wheeled mobile robots based on the kinematics model. Taking the position control subsystem as the outer loop and the attitude control subsystem as the inner loop, a double-loop trajectory tracking system for mobile robots is proposed, which is proved by Lyapunov stability theory. The stability of the system and the convergence of tracking error are improved. The designed controller can effectively overcome the influence of unknown disturbance and better realize the trajectory tracking of mobile robots. The simulation results verify the validity and correctness of the control law

Paper Citation

in Harvard Style

Ji Z., Zhao K., Ding Y. and Liu T. (2023). Design of Double-Loop Trajectory Tracking Control System for Mobile Robot. In Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS; ISBN 978-989-758-675-0, SciTePress, pages 89-94. DOI: 10.5220/0012149900003562

in Bibtex Style

@conference{icdpcs23,
author={Zhongwei Ji and Kang Zhao and Yan Ding and Tingrui Liu},
title={Design of Double-Loop Trajectory Tracking Control System for Mobile Robot},
booktitle={Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS},
year={2023},
pages={89-94},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012149900003562},
isbn={978-989-758-675-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Data Processing, Control and Simulation - Volume 1: ICDPCS
TI - Design of Double-Loop Trajectory Tracking Control System for Mobile Robot
SN - 978-989-758-675-0
AU - Ji Z.
AU - Zhao K.
AU - Ding Y.
AU - Liu T.
PY - 2023
SP - 89
EP - 94
DO - 10.5220/0012149900003562
PB - SciTePress