Dual feed-back and feed-forward synchronized cross-coupled motion control for two-wheel mobile robot

Abstract

Current mobile robot motion accuracy has not been yet achieved to full satisfaction. This paper presents a novel technique of dual feedback & feedforward synchronized cross-coupled motion control (DFFSCCC) for two-wheel mobile robot to achieve higher accuracy. previous cross-coupled motion control techniques are based on the consideration of only internal disturbances. The technique presented in this paper is based on the consideration of both internal and external disturbances. Similarly, previous cross-coupled motion control techniques used only feedback signals to correct the errors of the system. DFFSCCC has employed feedback and feedforward signals at the same time to achieve more accurate results. DFFSCCC has been mathematically modeled and simulated by using MATLAB-SIMULINK. The achieved results show that the suggested technique is robust and yield zero transient response and zero steady state errors. Hence, DFFSCCC can yield zero position and orientation errors which can keep the mobile robot on the same trajectory path, either straight or curve, despite of continuous disturbances that may affect either of motors