Comparison of Various Control Techniques for Path Control of Mobile Robots

Abstract

This paper presents mobile robot navigating towards a target while subjected to random disturbance in the path of mobile robot. Various control strategies, including Proportional-Integral-Derivative (PID) control, Adaptive Control, Sliding Mode Control (SMC) and Model Predictive Control (MPC) were implemented and evaluated. The results indicate significant differences in performance, with each control strategy exhibiting unique strengths and weaknesses in handling disturbances. This study contributes to the understanding of robotic control systems in uncertain environments.