TY - JOUR
T1 - Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage
AU - Silva Ortigoza, Ramon
AU - Garcia Sanchez, Jose Rafael
AU - Hernandez Guzman, Victor Manuel
AU - Marquez Sanchez, Celso
AU - Marcelino Aranda, Mariana
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/2
Y1 - 2016/2
N2 - 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.
AB - 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.
KW - DC motor
KW - DC/DC Buck power converter
KW - PI control
KW - Trajectory tracking
KW - cascade control
KW - flat system
KW - input-output linearization
KW - sliding mode control
KW - wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=84964372719&partnerID=8YFLogxK
U2 - 10.1109/TLA.2016.7437207
DO - 10.1109/TLA.2016.7437207
M3 - Artículo
SN - 1548-0992
VL - 14
SP - 657
EP - 664
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 2
M1 - 7437207
ER -