High-Speed Path Tracking of a Small Mobile Robot Using PD and ADRC Controllers with Experimental Validation

Abstract

This paper presents the development, modeling, and validation of a compact ground-based mobile robot designed for high-speed trajectory tracking with low-cost hardware and advanced control strategies. Originally designed for micromouse competitions, the platform was upgraded with a vacuum-assisted friction enhancement mechanism and a lightweight sensor fusion system comprising Time-of-Flight (ToF) sensors, infrared (IR) proximity sensors, a 6-axis IMU, and wheel encoders. Due to the lack of manufacturer-provided system parameters, a data-driven system identification approach was employed to derive a MIMO state-space model representing the robot's dynamics. Two control strategies, Proportional-Derivative (PD) and Active Disturbance Rejection Control (ADRC) were implemented and evaluated through both numerical simulations and real-world experiments across three benchmark trajectories: straight-line, 90° smooth turn, and figure-eight. The results show that both controllers achieved trajectory tracking within 5% RMSE, with ADRC offering improved heading accuracy and energy efficiency. Experimental observations indicate that ADRC reduces battery current fluctuations, although current modeling was not included in the control design. The proposed platform and methodology offer a cost-effective and robust solution for mobile robot control in constrained environments, with future work focusing on energy-aware control integration.