A Dynamic Controller Architecture for Wheeled Mobile Robot Trajectory Tracking Utilizing Feedback Linearization and State Feedback

Abstract

This paper presents a novel dual-loop trajectory tracking control strategy for differential-drive mobile robots (DDWMRs). The outer loop employs feedback linearization to address kinematic constraints and minimize position and heading errors. It generates control inputs for the inner loop, which utilizes state feedback control to manage the robot's dynamics. Actuator dynamics are incorporated to improve the model fidelity. The proposed system is implemented in MATLAB/Simulink. The uncertainty of the system is added to the model by using Uncertain State Space block. The proposed controller achieved high tracking accuracy for both circular and eight-shaped trajectories. In circular trajectories, the Relative-Root-Mean-Square-Error (RRMSE) remained below 7.2% (X-axis), 7.46% (Y-axis), and 3.16% (Yaw angle) over 3 seconds. Similarly, for eight-shaped trajectories, RRMSEs were approximately 5.25%, 8.19%, and 2.83% within 2 seconds. Simulation results demonstrate the robustness and effectiveness of the dual-loop controller in handling parameter uncertainties and achieving better trajectory tracking capability.