Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage

Ramon Silva Ortigoza, Jose Rafael Garcia Sanchez, Victor Manuel Hernandez Guzman, Celso Marquez Sanchez, Mariana Marcelino Aranda

Research output: Contribution to journalArticle

33 Citations (Scopus)

Abstract

© 2016 IEEE. In this work a three-level controller that carries out the trajectory tracking task for a differential drive wheeled mobile robot (WMR) is presented. Such a controller considers, for the first time in literature, the dynamics associated with the three subsystems that compose a WMR, i.e., mechanical structure, actuators, and power stage. The high level corresponds to an input-output linearization control for the mechanical structure; the medium level is based on two sensorless controls designed via differential flatness for the actuators; and the low level is related to two cascade controls based on sliding modes and PI control for the power stage. The performance and robustness of the controller is verified and shown via realistic simulations when parametric uncertainties associated with the subsystems that compose the WMR are considered.
Original languageAmerican English
Pages (from-to)657-664
Number of pages590
JournalIEEE Latin America Transactions
DOIs
StatePublished - 1 Feb 2016

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Mobile robots
Actuators
Trajectories
Controllers
Robustness (control systems)
Linearization
Uncertainty
Sensorless control

Cite this

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abstract = "{\circledC} 2016 IEEE. In this work a three-level controller that carries out the trajectory tracking task for a differential drive wheeled mobile robot (WMR) is presented. Such a controller considers, for the first time in literature, the dynamics associated with the three subsystems that compose a WMR, i.e., mechanical structure, actuators, and power stage. The high level corresponds to an input-output linearization control for the mechanical structure; the medium level is based on two sensorless controls designed via differential flatness for the actuators; and the low level is related to two cascade controls based on sliding modes and PI control for the power stage. The performance and robustness of the controller is verified and shown via realistic simulations when parametric uncertainties associated with the subsystems that compose the WMR are considered.",
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AU - Marcelino Aranda, Mariana

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