TY - JOUR
T1 - Velocity and current inner loops in a wheeled mobile robot
AU - Avendaño-Juárez, José L.
AU - Hernández-Guzmán, Victor M.
AU - Silva-Ortigoza, Ramón
N1 - Funding Information:
R.S.-O. acknowledges financial support from Secretaría de Investigación y Pos-grado del IPN (EDI and COFAA). R.S.-O. and V.M.H.-G. thank SNI-México for financial support.
PY - 2010/5/1
Y1 - 2010/5/1
N2 - 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.
AB - 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.
KW - Actuator dynamics
KW - Stability
KW - Trajectory tracking
KW - Velocity and current loops
KW - Wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=77953215295&partnerID=8YFLogxK
U2 - 10.1163/016918610X501480
DO - 10.1163/016918610X501480
M3 - Artículo
SN - 0169-1864
VL - 24
SP - 1385
EP - 1404
JO - Advanced Robotics
JF - Advanced Robotics
IS - 8-9
ER -