Dynamic modeling and tracking for nonholonomic mobile robot using PID and back‐stepping

Abstract

Abstract This article presents the motion control of nonholonomic two‐wheeled differential drive portable robot in terms of dynamic and kinematic model. The main problem lies in the demonstration of a versatile robot in dynamic behavior. The controller is planned in two sections, initially, a linear controller is configured utilizing the PID control strategy. In the subsequent stage, the control algorithm is designed utilizing the back‐stepping controller. An examination has been done between the two controllers and simulation result shows the adequacy of the exhibitions. These simulations show great coordinate outcomes while limiting the overshoot and improved the transient reaction time.