TY - JOUR
T1 - Tracking control for mobile robots considering the dynamics of all their subsystems
T2 - Experimental implementation
AU - García-Sánchez, José Rafael
AU - Silva-Ortigoza, Ramón
AU - Tavera-Mosqueda, Salvador
AU - Márquez-Sánchez, Celso
AU - Hernández-Guzmán, Victor Manuel
AU - Antonio-Cruz, Mayra
AU - Silva-Ortigoza, Gilberto
AU - Taud, Hind
N1 - Publisher Copyright:
© 2017 José Rafael García-Sánchez et al.
PY - 2017
Y1 - 2017
N2 - The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.
AB - The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=85042216645&partnerID=8YFLogxK
U2 - 10.1155/2017/5318504
DO - 10.1155/2017/5318504
M3 - Artículo
SN - 1076-2787
VL - 2017
JO - Complexity
JF - Complexity
M1 - 5318504
ER -