TY - JOUR
T1 - Robust switched tracking control for wheeled mobile robots considering the actuators and drivers
AU - García-Sánchez, José Rafael
AU - Tavera-Mosqueda, Salvador
AU - Silva-Ortigoza, Ramón
AU - Hernández-Guzmán, Victor Manuel
AU - Sandoval-Gutiérrez, Jacobo
AU - Marcelino-Aranda, Mariana
AU - Taud, Hind
AU - Marciano-Melchor, Magdalena
N1 - Publisher Copyright:
© 2018 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2018/12
Y1 - 2018/12
N2 - By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.
AB - By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.
KW - Cascade switched control
KW - DC/DC Buck power converter
KW - Dc motor
KW - Flat system
KW - Hierarchical average controller
KW - Hierarchical switched controller
KW - Kinematic control
KW - PI control
KW - Sliding mode control
KW - Trajectory tracking
KW - Wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=85058381879&partnerID=8YFLogxK
U2 - 10.3390/s18124316
DO - 10.3390/s18124316
M3 - Artículo
C2 - 30544520
AN - SCOPUS:85058381879
SN - 1424-8220
VL - 18
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 12
M1 - 4316
ER -