Abdullsahib, A., Alwan, H. (2025). Experimental investigation of applying multi-stage (PID-MRAC) controller for trajectory tracking of four mecanum wheeled mobile robot. , 43(8), 641-658. doi: 10.30684/etj.2025.155232.1852
Asaad D. Abdullsahib; Hassan M. Alwan. "Experimental investigation of applying multi-stage (PID-MRAC) controller for trajectory tracking of four mecanum wheeled mobile robot". , 43, 8, 2025, 641-658. doi: 10.30684/etj.2025.155232.1852
Abdullsahib, A., Alwan, H. (2025). 'Experimental investigation of applying multi-stage (PID-MRAC) controller for trajectory tracking of four mecanum wheeled mobile robot', , 43(8), pp. 641-658. doi: 10.30684/etj.2025.155232.1852
Abdullsahib, A., Alwan, H. Experimental investigation of applying multi-stage (PID-MRAC) controller for trajectory tracking of four mecanum wheeled mobile robot. , 2025; 43(8): 641-658. doi: 10.30684/etj.2025.155232.1852

Experimental investigation of applying multi-stage (PID-MRAC) controller for trajectory tracking of four mecanum wheeled mobile robot

Engineering and Technology Journal
Volume 43, Issue 8, August 2025, Pages 641-658    PDF (2.12 M)
Document Type: Research Paper
DOI: 10.30684/etj.2025.155232.1852
Authors
Asaad D. Abdullsahib* 1; Hassan M. Alwan2
1Mechanical Engineering Dept., College of Engineering, University of Al-Qadisiyah, Al-Qadisiyah, Iraq. Mechanical Engineering Dept., University of Technology-Iraq, Alsina’a street, 10066 Baghdad, Iraq.
2Mechanical Engineering Dept., University of Technology-Iraq, Alsina’a street, 10066 Baghdad, Iraq.
Abstract
This paper presents a practical investigation into the design and implementation of a multi-stage controller, which integrates a Model Reference Adaptive Controller (MRAC) with a Proportional-Integral-Derivative (PID) controller for trajectory tracking control in a Four Mecanum Wheels Mobile Robot (FMWMR). The MRAC adaptively updates the control parameters based on the difference between the actual and desired behaviors of the mobile robot. In contrast, the PID controller manages the angular velocities of the wheels. The mobile robot has been designed and constructed with two holders to facilitate the transportation of logistical items and constrain the weight to the center of the mobile robot to reduce the effect of the inertia force. The distinctive motion characteristics of the FMWMR are elucidated by explaining its kinematic and dynamic models. The control signals for the FMWMR motors are derived from the output of the multi-stage controller. The mobile robot operates through serial communication between MATLAB/Simulink and Arduino hardware. Experimental results demonstrating the control of the (FMWMR) by the proposed controller as it follows a Sine-Spiral trajectory are presented, highlighting the performance of the multi-stage controller monitoring the behavior of velocities and motor torques and illustrating the real-time adaptive variation of the MRAC control parameters.

Highlights
  • A multi-stage controller combining MRAC and PID was designed to control the trajectory tracking of a 4-mecanum wheel robot
  • A mobile robot with unique holders was manufactured to transport logistics items
  • MATLAB/Simulink was programmed and connected to Arduino to send control commands and receive feedback
  • The robot's performance was evaluated using the designed control algorithm
Keywords
Four mecanum wheels mobile robot Model reference adaptive control PID Trajectory tracking; Mobile robot control
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