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

Author

Listed:
  • 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

Abstract

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 – -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.

Suggested Citation

  • 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, 2017. "Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation," Complexity, Hindawi, vol. 2017, pages 1-18, December.
    • Handle: RePEc:hin:complx:5318504
    DOI: 10.1155/2017/5318504
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    References listed on IDEAS

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    1. Carlos Aguilar-Avelar & Javier Moreno-Valenzuela, 2017. "A MRAC Principle for a Single-Link Electrically Driven Robot with Parameter Uncertainties," Complexity, Hindawi, vol. 2017, pages 1-13, January.
    2. Boudghene Stambouli, A. & Traversa, E., 2002. "Fuel cells, an alternative to standard sources of energy," Renewable and Sustainable Energy Reviews, Elsevier, vol. 6(3), pages 295-304, September.
    3. Widén, Joakim & Carpman, Nicole & Castellucci, Valeria & Lingfors, David & Olauson, Jon & Remouit, Flore & Bergkvist, Mikael & Grabbe, Mårten & Waters, Rafael, 2015. "Variability assessment and forecasting of renewables: A review for solar, wind, wave and tidal resources," Renewable and Sustainable Energy Reviews, Elsevier, vol. 44(C), pages 356-375.
    4. Tatiana M. Pinho & João Paulo Coelho & Germano Veiga & A. Paulo Moreira & José Boaventura-Cunha, 2017. "A Multilayer Model Predictive Control Methodology Applied to a Biomass Supply Chain Operational Level," Complexity, Hindawi, vol. 2017, pages 1-10, July.
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    Cited by:

    1. Víctor Hugo García-Rodríguez & Ramón Silva-Ortigoza & Eduardo Hernández-Márquez & José Rafael García-Sánchez & Hind Taud, 2018. "DC/DC Boost Converter–Inverter as Driver for a DC Motor: Modeling and Experimental Verification," Energies, MDPI, vol. 11(8), pages 1-15, August.
    2. Eduardo Hernández-Márquez & Carlos Alejandro Avila-Rea & José Rafael García-Sánchez & Ramón Silva-Ortigoza & Gilberto Silva-Ortigoza & Hind Taud & Mariana Marcelino-Aranda, 2018. "Robust Tracking Controller for a DC/DC Buck-Boost Converter–Inverter–DC Motor System," Energies, MDPI, vol. 11(10), pages 1-15, September.

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