Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

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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Bibliographic Details
Main Authors:	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
Format:	Article
Language:	English
Published:	Wiley 2017-01-01
Series:	Complexity
Online Access:	http://dx.doi.org/10.1155/2017/5318504
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