THE DESIGN OF TRAJECTORY TRACKING CONTROLLER FOR MOBILE ROBOTS USING FEEDFORWARD-FEEDBACK METHODS

Abstract

In recent years, the application of mobile robots in industrial production for material transportation has become increasingly prevalent, necessitatingefficient, and flexible navigation capabilities. The ability to move along predefined trajectories plays a crucial role in the successful execution ofautonomous missions. To address this challenge, this paper presents a novel combined controller that integrates both feedforward (FF) and feedback (FB) control techniques. The FF controller is utilized to predict the control signaloutput, while the FB controller ensures adaptability in the presence of uncertain disturbances and external factors that may affect the robot's trajectory-tracking performance. Through simulation, the proposed methoddemonstrates superior accuracy and stability compared to using FF and FBcontrollers in isolation.