Performance Recovery Double Integral Position Tracking Technique for TWMRs With Parameter Adaptation and Critically Damped Performance

The proposed multiloop double-integral feedback framework addresses the trajectory tracking problem of two-wheeled mobile robots (TWMRs), achieving critically damped closed-loop behavior despite model-plant mismatches. By explicitly considering direct current motor (DCM) dynamics and load uncertainties, the method enhances robustness under diverse road conditions. The core contributions are threefold: 1) a model-free observer employing artificial damping (AD) injection diagonalizes estimation error dynamics, simplifying parameter tuning; 2) AD-based double-integral controllers in the outer and inner loops drive position and attitude errors toward critically damped responses; and 3) an AD-based proportional–integral controller ensures first-order convergence of DCM speed errors while suppressing load disturbances. Experimental validation on a prototype TWMR platform equipped with a MyRIO1900 controller and OptiTrack positioning confirms substantial improvements in closed-loop performance.