Model identification and validation of cascade control schemes for a differential drive mobile robot

This paper presents a reduced order dynamic model of a differential drive mobile robot (DDMR). The model is validated with data collected from a mobile robot in real time. Based on the obtained model, a controller for tracking DDMR trajectory is designed and implemented. This paper presents a cascade control scheme for trajectory tracking control for a variety of complex trajectory tracking applications. Experimental and simulation results show that control design is able to track several challenging reference paths successfully with an acceptable tracking error.