TY - JOUR
T1 - Path-tracking of a wmr fed by inverter-dc/dc buck power electronic converter systems
AU - Hernández-Guzmán, Victor Manuel
AU - Silva-Ortigoza, Ramón
AU - Tavera-Mosqueda, Salvador
AU - Marcelino-Aranda, Mariana
AU - Marciano-Melchor, Magdalena
N1 - Publisher Copyright:
© 2020 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2020/11/2
Y1 - 2020/11/2
N2 - This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.
AB - This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.
KW - Energy-based control
KW - Inverter-DC/DC Buck power converter system
KW - Lyapunov stability
KW - Path-tracking
KW - Wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=85096038954&partnerID=8YFLogxK
U2 - 10.3390/s20226522
DO - 10.3390/s20226522
M3 - Artículo
C2 - 33203072
AN - SCOPUS:85096038954
SN - 1424-8220
VL - 20
SP - 1
EP - 19
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 22
M1 - 6522
ER -