Cascade Controller for Differential Wheeled Robot Posture Control to Follow Moving Target

This work aims to implement a cascade control system without having to use switching switches to combine signals from multiple controllers. The controller works in an integrated manner to adjust the robot's posture when approaching/chasing the ball in a soccer game. We propose using the State Feedback Controller (SFC) as the inner loop to adjust the angle of orientation of the robot toward the sphere and the Proportional Integral Controller as the outer loop to adjust the robot's position with respect to the stationary and moving ball as a defined control strategy. The test results showed that in with gain values
$\mathbf{K=1}$
, Kp
$=\mathbf{3}$
and Ki
$=\mathbf{0.019}$
the robot managed to approach the stationary ball and gradually remained able to chase the rolling ball with
$\mathbf{MSE}= \mathbf{0.397623}$
.