Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation
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 hier...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2017/5318504 |
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| _version_ | 1832564708056498176 |
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| author | José Rafael García-Sánchez Ramón Silva-Ortigoza Salvador Tavera-Mosqueda Celso Márquez-Sánchez Victor Manuel Hernández-Guzmán Mayra Antonio-Cruz Gilberto Silva-Ortigoza Hind Taud |
| author_facet | José Rafael García-Sánchez Ramón Silva-Ortigoza Salvador Tavera-Mosqueda Celso Márquez-Sánchez Victor Manuel Hernández-Guzmán Mayra Antonio-Cruz Gilberto Silva-Ortigoza Hind Taud |
| author_sort | José Rafael García-Sánchez |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-bced0ef0d9934ea09569b60a4877cdfa |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-bced0ef0d9934ea09569b60a4877cdfa2025-02-03T01:10:22ZengWileyComplexity1076-27871099-05262017-01-01201710.1155/2017/53185045318504Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental ImplementationJosé Rafael García-Sánchez0Ramón Silva-Ortigoza1Salvador Tavera-Mosqueda2Celso Márquez-Sánchez3Victor Manuel Hernández-Guzmán4Mayra Antonio-Cruz5Gilberto Silva-Ortigoza6Hind Taud7Área de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoÁrea de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoÁrea de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoÁrea de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoFacultad de Ingeniería, Universidad Autónoma de Querétaro, 76150 Querétaro, QRO, MexicoÁrea de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoFacultad de Ciencias Físico Matemáticas, Benemérita Universidad Autónoma de Puebla, 72570 Puebla, PUE, MexicoÁrea de Mecatrónica, CIDETEC, Instituto Politécnico Nacional, Unidad Profesional Adolfo López Mateos, 07700 Ciudad de México, MexicoThe 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.http://dx.doi.org/10.1155/2017/5318504 |
| spellingShingle | José Rafael García-Sánchez Ramón Silva-Ortigoza Salvador Tavera-Mosqueda Celso Márquez-Sánchez Victor Manuel Hernández-Guzmán Mayra Antonio-Cruz Gilberto Silva-Ortigoza Hind Taud Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation Complexity |
| title | Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation |
| title_full | Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation |
| title_fullStr | Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation |
| title_full_unstemmed | Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation |
| title_short | Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation |
| title_sort | tracking control for mobile robots considering the dynamics of all their subsystems experimental implementation |
| url | http://dx.doi.org/10.1155/2017/5318504 |
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