Comparative Study of PID and Lyapunov-Based Adaptive Control for Dynamic Mobile Robot Trajectory Tracking

Auliya Nabila; Kartika Dewi; Zulfiana Safitri Majid

doi:10.31963/elekterika.v23i1.6392

Authors

Auliya Nabila Politeknik Negeri Ujung Pandang
Kartika Dewi Politeknik Negeri Ujung Pandang
Zulfiana Safitri Majid

DOI:

https://doi.org/10.31963/elekterika.v23i1.6392

Keywords:

Mobile Robot, Adaptive Control, PID, Trajectory Tracking, Dynamic Model, Lyapunov

Abstract

Mobile robot control is an important topic in the field of control systems and robotics, particularly in dealing with parameter uncertainties and external disturbances. This study aims to analyze the performance of Lyapunov-based adaptive control compared to conventional PID for a mobile robot based on dynamic model. The evaluation is conducted using two types of trajectories, a circular trajectory representing smooth motion and a figure-eight trajectory representing complex motion with repeated changes in direction. The control method is designed using a cascade structure that integrates both kinematic and dynamic models. Simulation results show that both control methods are capable of tracking the reference trajectory and the adaptive control provides better performance with lower Root Mean Square Error (RMSE) values and faster convergence time. Furthermore, the adaptive control demonstrates superior capability in handling complex directional changes in the figure-eight trajectory. Therefore, the Lyapunov-based adaptive control is proven to be more effective and robust that the PID control in managing mobile robot with parameter uncertainties.

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