TY - GEN
T1 - Comparison of dynamic model-based control algorithms for trajectory tracking in an omnidirectional robot
AU - Lopez-Cortes, Luis F.
AU - Lozano-Hernandez, Yair
AU - Torres, Lizeth
AU - Guerrero-Castellanos, Jose F.
AU - Aguirre-Anaya, Jose A.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper presents the comparison of a PD+ and a Backstepping control scheme for the position tracking control of an Omnidirectional Mobile Robot (OMR). Both controllers are based on a candidate Lyapunov function, resulting in a control scheme that depends on parameters of the system dynamic model. For the above, it is required to know the robot mathematical model, which is described in this work. The mathematical model and the control algorithms developed are simulated in Matlab/simulink, thus validating the proposals behaviour. The results consider the presence of disturbances and the analysis of performance indices based on the error. In this way, it is shown that the Backstepping controller more accurately follows the desired path in the X-Y plane compared to the PD+ controller.
AB - This paper presents the comparison of a PD+ and a Backstepping control scheme for the position tracking control of an Omnidirectional Mobile Robot (OMR). Both controllers are based on a candidate Lyapunov function, resulting in a control scheme that depends on parameters of the system dynamic model. For the above, it is required to know the robot mathematical model, which is described in this work. The mathematical model and the control algorithms developed are simulated in Matlab/simulink, thus validating the proposals behaviour. The results consider the presence of disturbances and the analysis of performance indices based on the error. In this way, it is shown that the Backstepping controller more accurately follows the desired path in the X-Y plane compared to the PD+ controller.
KW - Backstepping
KW - Omnidirectional Mobile Robot
KW - PD+
KW - dynamic model
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85140908948&partnerID=8YFLogxK
U2 - 10.1109/ICMEAE55138.2021.00017
DO - 10.1109/ICMEAE55138.2021.00017
M3 - Contribución a la conferencia
AN - SCOPUS:85140908948
T3 - Proceedings - 2021 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2021
SP - 60
EP - 65
BT - Proceedings - 2021 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 International Conference on Mechatronics, Electronics and Automotive Engineering, ICMEAE 2021
Y2 - 22 November 2021 through 26 November 2021
ER -