Comparative Analysis of Motion Control Algorithms for a Mobile Robot Tracking a Given Trajectory

Abstract

This article discusses a comparative analysis of motion control algorithms for a mobile robot tracking a given trajectory. Developing a mathematical model of the robot and investigating the effectiveness of regulators: a Lyapunov-based controller, an MPC controller, and a neural network-based regulator. Conducting computer simulations with these controllers, as well as analyzing their performance based on key criteria such as trajectory tracking accuracy, computational complexity, and resistance to disturbances.