Sensors, Vol. 20, Pages 6522: Path-Tracking of a WMR Fed by Inverter-DC/DC Buck Power Electronic Converter Systems

Sensors, Vol. 20, Pages 6522: Path-Tracking of a WMR Fed by Inverter-DC/DC Buck Power Electronic Converter Systems
Sensors doi: 10.3390/s20226522
Authors:
Victor Manuel Hernández-Guzmán
Ramón Silva-Ortigoza
Salvador Tavera-Mosqueda
Mariana Marcelino-Aranda
Magdalena Marciano-Melchor

This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.

Source: Sensors - November 15, 2020 Category: Biotechnology Authors: Victor Manuel Hern ández-Guzmán Ram ón Silva-Ortigoza Salvador Tavera-Mosqueda Mariana Marcelino-Aranda Magdalena Marciano-Melchor Tags: Article Source Type: research