Car-like mobile robot oriented digital acceleration control method

Car-like mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. So far, the path tracking accuracy of these robots is low due to nonlinear friction in the wheels, center-of-gravity shifts, and load changes caused by users. To address these issues, a dynamics model is derived that considers nonlinear friction, center-of-gravity shifts, and load changes. In particular, a digital acceleration control algorithm is proposed to compensate for nonlinear friction. Simulations are executed using proportional-integral (PI) control for comparison with those using the proposed method. The results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.