TY - JOUR
T1 - A novel dynamic three-level tracking controller for mobile robots considering actuators and power stage subsystems
T2 - Experimental assessment
AU - García-Sánchez, José Rafael
AU - Tavera-Mosqueda, Salvador
AU - Silva-Ortigoza, Ramón
AU - Hernández-Guzmán, Victor Manuel
AU - Marciano-Melchor, Magdalena
AU - Rubio, José de Jesús
AU - Ponce-Silva, Mario
AU - Hernández-Bolaños, Miguel
AU - Martínez-Martínez, Jesús
N1 - Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2020/9/1
Y1 - 2020/9/1
N2 - In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.
AB - In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.
KW - Control design
KW - DC motors
KW - DC/DC power converters
KW - Differential flatness
KW - Dynamic three-level controller
KW - Hierarchical controller
KW - Mobile robots
KW - PI current control
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85090093611&partnerID=8YFLogxK
U2 - 10.3390/s20174959
DO - 10.3390/s20174959
M3 - Artículo
C2 - 32887264
AN - SCOPUS:85090093611
SN - 1424-8220
VL - 20
SP - 1
EP - 25
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 17
M1 - 4959
ER -