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Design of trajectory tracking controller for a differential-drive mobile robot platform based on integral control
Other Title(s)
تصميم مسيطر متتبع للمسار لمنصة روبورت متحركة ذات محرك فرقي بالاعتماد على السيطرة التكاملية
Joint Authors
Rahim, Firas Abd al-Razzaq
Sharif, Siba M.
Majid, Layth K.
Source
Engineering and Technology Journal
Issue
Vol. 32, Issue 11A (30 Nov. 2014), pp.2587-2607, 21 p.
Publisher
Publication Date
2014-11-30
Country of Publication
Iraq
No. of Pages
21
Main Subjects
Topics
Abstract AR
في ھذا البحث تم تصمیم مسیطر متتبع للمسار بالاعتماد على تقنیة السیطرة التكاملیة للسیطرة على منصة روبوت متحركة ذات محرك فرقي.
وقد تم إنجاز تصمیم المسیطر باستخدام النموذج الریاضي الحركي اللا خطي المجرد لمنصة الروبوت المتحرك والذي تم تحویلھ إلى نموذج الخطأ اللا خطي وذلك بتحریك الحالات إلى نقطة الأصل ، ومن ثم بإضافة حالات السیطرة التكاملیة الوھمیة التي تم دمجھا مع
Abstract EN
Atrajectory tracking controller based on integral control technique for the wheeled differential mobile robot using the kinematic model is proposed in this paper.
The proposed controller design is achieved by using the nonlinear kinematics model of the mobile robot which is being transformed to a nonlinear error model by shifting its states to the origin and by adding a dummy integral control state variables that are augmented with the nonlinear error model, the model became ready to be used to design a controller.
The nonlinear controller which will enforce the system dynamics to follow the desired trajectory guarantee that the steering control system of the mobile robot will behave as a second order reference model with specified natural frequency and damping ratio is being selected by the designer, and the average speed control system will behave as a first order reference model with specified time constant chosen by the designer.
The simulation results which is achieved by using MATLAB Rev.
(14.
9 2009b) show the potential of the proposed controller to track the mobile robot to the desired trajectory with very slight error.
American Psychological Association (APA)
Sharif, Siba M.& Rahim, Firas Abd al-Razzaq& Majid, Layth K.. 2014. Design of trajectory tracking controller for a differential-drive mobile robot platform based on integral control. Engineering and Technology Journal،Vol. 32, no. 11A, pp.2587-2607.
https://search.emarefa.net/detail/BIM-516107
Modern Language Association (MLA)
Sharif, Siba M.…[et al.]. Design of trajectory tracking controller for a differential-drive mobile robot platform based on integral control. Engineering and Technology Journal Vol. 32, no. 11A (2014), pp.2587-2607.
https://search.emarefa.net/detail/BIM-516107
American Medical Association (AMA)
Sharif, Siba M.& Rahim, Firas Abd al-Razzaq& Majid, Layth K.. Design of trajectory tracking controller for a differential-drive mobile robot platform based on integral control. Engineering and Technology Journal. 2014. Vol. 32, no. 11A, pp.2587-2607.
https://search.emarefa.net/detail/BIM-516107
Data Type
Journal Articles
Language
English
Notes
Includes appendix : p. 2596-2607
Record ID
BIM-516107