Order Reduction Trajectory Tracking Control for Two-Wheeled Mobile Robots via Active Damping and PZC Techniques

This paper exhibits an advanced trajectory tracking technique for two-wheeled mobile robot applications by adopting active damping and order reduction techniques. The newly designed feedback and active damping gain structures trigger the first-order pole-zero cancellation, eliminating the integrator's increased order and consistently leading to the desired firstorder transfer function. The MATLAB/Simulink confirms the performance improvement using the proposed technique.