Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot

Luis Merida-Calvo, Andres San Millan Rodriguez, Francisco Ramos, Vicente Feliu-Batlle*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)
3 Downloads (Pure)


Accurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks. In high-speed movements, time delays appear when reaching the desired position and orientation, as well as overshoots in the changes of orientation, which prevent the execution of some tasks. One of the aspects that most influences the tracking performance is the control system of the actuators of the robot wheels. It usually implements PID controllers that, in the case of low-cost robots, do not yield a good tracking performance owing to friction nonlinearity, hardware time delay and saturation. We propose to overcome these problems by designing an advanced process control system composed of a PID controller plus a prefilter combined with a Smith predictor, an anti-windup scheme and a Coulomb friction compensator. The contribution of this article is the motor control scheme and the method to tune the parameters of the controllers. It has been implemented in a well-known low-cost small mobile robot and experiments have been carried out that demonstrate the improvement achieved in the performance by using this control system.
Original languageEnglish
Article number14
Number of pages23
Issue number1
Early online date23 Dec 2022
Publication statusPublished - 23 Dec 2022

Bibliographical note

This research was funded by the Grant PID2019-111278RB-C21 funded by MCIN/AEI/ 10.13039/501100011033 and “ERDF A way of making Europe”.


  • mobile robots
  • advanced process control
  • DC motor friction
  • non-linear system
  • antiwindup
  • Smith predictor
  • friction compensation


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