TY - M-10125
AU - Weldemariam, Aregawi
TI - PERFORMANCE ANALYSIS OF BACKSTEPPING AND OPTIMIZED  FOPID CONTROLLER FOR TRAJECTORY TRACKING OF WHEELED MOBILE ROBOT
T2 - Scientific Research Journal of Science, Engineering and Technology

PY - 2024
VL - 2
IS - 2
SN - 2584-0584

AB - 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.

KW - Wheeled Mobile Robot
KW -  Backstepping controller
KW -  FOPID
KW -  Genetic algorithm
KW -  Fuzzy  Inference system
KW -   trajectory tracking
KW - Wheeled Mobile Robot
KW -  Backstepping controller
KW -  FOPID
KW -  Genetic algorithm
KW -  Fuzzy  Inference system
KW -   trajectory tracking
DO -