Reduction of Control Torques of Mobile Robot Using Hybrid Nonlinear Position Controller

We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for evolution of the control parameters of a multivariable PI velocity controller described with a full matrix. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. Simulation results show the good quality of both velocity and position tracking capabilities of a mobile robot