PERFORMANCE ANALYSIS OF BACKSTEPPING AND OPTIMIZED FOPID CONTROLLER FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOT

Title

PERFORMANCE ANALYSIS OF BACKSTEPPING AND OPTIMIZED FOPID CONTROLLER FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOT

Author

1. Aregawi Weldemariam, Student, Addis Ababa science and technology university, Ethiopia

Abstract

Differential drive mobile robots are now used for a wider range of commercial and industrial applications than just for scientific study. The field of mobile robotics faces a serious challenge with trajectory tracking. The trajectory tracking of the differential-drive wheeled mobile robot is studied in this thesis using a control strategy that combines kinematics based backstepping with optimized fractional-order PID controllers for the dynamics. Moreover, to obtain an optimal control system, fuzzy inference system and genetic algorithm optimization techniques are applied separately to tune the parameters of the fractional order PID dynamic controllers. Finally, several simulations are implemented to the trajectory tracking of mobile robots in the cases with and without disturbance signal, and the results can confirm the effectiveness and superiority of the combined control scheme. The fuzzy based FOPID controller response performs better with ITAE of 0.0289 and 0.0364 in the x and y direction respectively whereas with GA based FOPID the ITAE is 0.374 and 0.285. the robustness of the backstepping controller is also clearly proved.

Keywords

Conclusion

The kinematic-based backstepping controller works excellently at following the desired 10 trajectory with the minimum amount of error, and it exhibits great disturbance rejection (robustness) performance, which the proposed dynamic controllers are not good at. As can be observed from the simulation results, kinematic-based backstepping controllers with fuzzy inference-optimized FOPID controllers offer higher performance characteristics in terms of trajectory error and robustness against perturbation than the other strategies covered in this work. In order to verify simulation results and conduct real-time implementation, it is advised to carry out practical implementation of these controllers for trajectory tracking control of the wheeled mobile robot. This is due to the possibility that there could be modelling inaccuracies when creating the robot, meaning that a strategy that worked best in the model could not always perform effectively in reality. Furthermore, the established control strategy and optimization method may be applied to a variety of applications, including robot manipulators, unmanned aerial vehicles, and others, by simply altering the plant system.

Author Contrubution

1. Conceptualization: Aregawi Hailu and Lebsework Negash designed the research framework and developed the research questions. 2. Methodology: Aregawi Hailu designed the methodology and conducted the experiments. 3. Formal Analysis: Aregawi Hailu performed the data analysis. 4. Investigation: Aregawi Hailu conducted the investigation. 5. Resources: Aregawi Hailu and Lebsework Negash provided the necessary resources and materials for the research. 6. Data Curation: Aregawi Hailu curated and managed the data. 7. Writing – Original Draft: Aregawi Hailu prepared the initial draft of the manuscript. 8. Writing – Review & Editing: Lebsework Negash reviewed and edited the manuscript for intellectual content. 9. Visualization: Aregawi Hailu created the visual representations of data (figures, tables, etc.). 10. Supervision: Lebsework Negash supervised the overall research project. All authors have read and agreed to the published version of the manuscript.

Funding

This research was funded by Addis Ababa science and technology university. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.

Conflict of Interest

No conflict of Interest

Data Sharing Statement

The data that support the findings of this study are available from the corresponding author upon reasonable request.

Software And Tools Use

MATLAB is the main software tool we used.

Acknowledgements

We want to express a special thanks to all of family and friends for their unwavering support and encouragement during this effort.