Experimental Comparison of Model-Based and Model-Free Trajectory Tracking Control on a Mobile Robot

This paper presents an experimental comparison between model-based and model-free trajectory-tracking control strategies applied to an omnidirectional mobile robot platform. Classical model-based controllers, including Proportional-Integral-Derivative (PID), Generic Model Control (GMC), and Sliding Mode Control (SMC), are evaluated against a Model-Free Control (MFC) strategy based on an intelligent Proportional–Integral–Derivative (iPID) regulator. An empirical integrator-with-delay model is identified from experimental data and used to design model-based controllers. All strategies were implemented on the Festo Robotino platform under comparable operating conditions and evaluated using circular, lemniscate, and square trajectories. Controller performance is assessed using the Integral of Squared Error (ISE), the settling time ( (Formula presented.) ), and the control effort quantified by the Integral of Squared Control Output (ISCO). Experimental results show that the model-free controller provides the best overall tracking performance, achieving tracking error reductions of approximately (Formula presented.) to (Formula presented.) compared with the evaluated model-based controllers, while maintaining a competitive control effort. The study provides a unified experimental benchmark comparing model-based and model-free control paradigms on the Robotino platform, highlighting the practical advantages of model-free control for robotic systems affected by uncertainties and nonlinearities.