Velocity and current inner loops in a wheeled mobile robot

José L. Avendaño-Juárez, Victor M. Hernández-Guzmán, Ramón Silva-Ortigoza

Research output: Contribution to journalArticlepeer-review

17 Scopus citations

Abstract

In this note we are concerned with the control of a non-holonomic mobile robot, including the kinematic and the mechanical models of the robot as well as the electrical dynamics of the brushed DC motors used as actuators. We present, for the first time, a formal justification for a control strategy based on velocity and current inner loops driven by proportional controllers. Although this strategy is well known and very common in practice, a formal stability analysis supporting these ideas had not been presented until now.

Original languageEnglish
Pages (from-to)1385-1404
Number of pages20
JournalAdvanced Robotics
Volume24
Issue number8-9
DOIs
StatePublished - 1 May 2010

Keywords

  • Actuator dynamics
  • Stability
  • Trajectory tracking
  • Velocity and current loops
  • Wheeled mobile robots

Fingerprint

Dive into the research topics of 'Velocity and current inner loops in a wheeled mobile robot'. Together they form a unique fingerprint.

Cite this