Sensors, Vol. 18, Pages 4316: Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

Sensors, Vol. 18, Pages 4316: Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers Sensors doi: 10.3390/s18124316 Authors: José Rafael García-Sánchez Salvador Tavera-Mosqueda Ramón Silva-Ortigoza Victor Manuel Hernández-Guzmán Jacobo Sandoval-Gutiérrez Mariana Marcelino-Aranda Hind Taud Magdalena Marciano-Melchor By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also present...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research
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