Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation
Joint Authors
Márquez-Sánchez, C.
Silva-Ortigoza, R.
García-Sánchez, J. R.
Taud, H.
Hernández-Guzmán, Victor Manuel
Silva-Ortigoza, Gilberto
Tavera-Mosqueda, Salvador
Antonio-Cruz, M.
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-12-07
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters).
The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage.
In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ–Δ-modulator in a differential drive WMR prototype that we have built.
Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board.
The experimental results show the effectiveness and robustness of the proposed control scheme.
American Psychological Association (APA)
García-Sánchez, J. R.& Silva-Ortigoza, R.& Tavera-Mosqueda, Salvador& Márquez-Sánchez, C.& Hernández-Guzmán, Victor Manuel& Antonio-Cruz, M.…[et al.]. 2017. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation. Complexity،Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1143044
Modern Language Association (MLA)
García-Sánchez, J. R.…[et al.]. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation. Complexity No. 2017 (2017), pp.1-18.
https://search.emarefa.net/detail/BIM-1143044
American Medical Association (AMA)
García-Sánchez, J. R.& Silva-Ortigoza, R.& Tavera-Mosqueda, Salvador& Márquez-Sánchez, C.& Hernández-Guzmán, Victor Manuel& Antonio-Cruz, M.…[et al.]. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation. Complexity. 2017. Vol. 2017, no. 2017, pp.1-18.
https://search.emarefa.net/detail/BIM-1143044
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1143044