Dynamic modeling and tracking for nonholonomic mobile robot using PID and back?stepping

This article presents the motion control of nonholonomic two-wheeled differential drive portable robot in terms dynamic and kinematic model. The main problem lies demonstration a versatile behavior. controller is planned two sections, initially, linear configured utilizing PID strategy. In subsequent stage, algorithm designed back-stepping controller. An examination has been done between controllers simulation result shows adequacy exhibitions. These simulations show great coordinate outcomes while limiting overshoot improved transient reaction time.