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A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
- Source :
- Sensors, Volume 20, Issue 17, Sensors, Vol 20, Iss 4959, p 4959 (2020), Sensors (Basel, Switzerland)
- Publication Year :
- 2020
- Publisher :
- Multidisciplinary Digital Publishing Institute, 2020.
-
Abstract
- In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.
- Subjects :
- 0209 industrial biotechnology
Computer science
control design
DC/DC power converters
PI current control
02 engineering and technology
lcsh:Chemical technology
Biochemistry
DC motor
Article
Three level
Analytical Chemistry
020901 industrial engineering & automation
Control theory
Robustness (computer science)
mobile robots
dynamic three-level controller
0202 electrical engineering, electronic engineering, information engineering
trajectory tracking
lcsh:TP1-1185
Electrical and Electronic Engineering
Instrumentation
hierarchical controller
Parametric statistics
DC motors
020208 electrical & electronic engineering
Mobile robot
Atomic and Molecular Physics, and Optics
differential flatness
Actuator
Subjects
Details
- Language :
- English
- ISSN :
- 14248220
- Database :
- OpenAIRE
- Journal :
- Sensors
- Accession number :
- edsair.doi.dedup.....9e9469390987b7bf66300a61f2e4d859
- Full Text :
- https://doi.org/10.3390/s20174959