Nonlinear Kinematic Control of QBot2-Trajectory Tracking

This paper presents the kinematic control for a QBot2, a wheeled mobile robot (WMR). The work presents the design and simulation of a trajectory tracking controller for the system. The controller is a nonlinear proportional integral derivate (PID) control. The PID control is designed using Ziegler-Nichols (Z-N) tuning method. The controller is implemented on the system using QUARC, a MATLAB-Simulink based software.