Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control
Atrajectory tracking controller based on integral control technique for the wheeled differential mobile robot using the kinematic model is proposed in this paper. The proposed controller design is achieved by using the nonlinear kinematics model of the mobile robot which is being transformed to a no...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2014-10-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_100014_88e6502b3f3c2946c9b026f50791e6cd.pdf |
| _version_ | 1797325635090120704 |
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| author | Siba M. Sharef Firas A. Raheem Laith K. Majeed |
| author_facet | Siba M. Sharef Firas A. Raheem Laith K. Majeed |
| author_sort | Siba M. Sharef |
| collection | DOAJ |
| description | Atrajectory tracking controller based on integral control technique for the wheeled differential mobile robot using the kinematic model is proposed in this paper. The proposed controller design is achieved by using the nonlinear kinematics model of the mobile robot which is being transformed to a nonlinear error model by shifting its states to the origin and by adding a dummy integral control state variables that are augmented with the nonlinear error model, the model became ready to be used to design a controller. The nonlinear controller which will enforce the system dynamics to follow the desired trajectory guarantee that the steering control system of the mobile robot will behave as a second order reference model with specified natural frequency and damping ratio is being selected by the designer, and the average speed control system will behave as a first order reference model with specified time constant chosen by the designer. The simulation results which is achieved by using MATLAB Rev. (14.9 2009b) show the potential of the proposed controller to track the mobile robot to the desired trajectory with very slight error. |
| first_indexed | 2024-03-08T06:12:13Z |
| format | Article |
| id | doaj.art-2ccf4eeeac184f98abba4746d9c05c01 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:12:13Z |
| publishDate | 2014-10-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-2ccf4eeeac184f98abba4746d9c05c012024-02-04T17:31:37ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582014-10-0132112587260710.30684/etj.32.11A.1100014Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral ControlSiba M. SharefFiras A. RaheemLaith K. MajeedAtrajectory tracking controller based on integral control technique for the wheeled differential mobile robot using the kinematic model is proposed in this paper. The proposed controller design is achieved by using the nonlinear kinematics model of the mobile robot which is being transformed to a nonlinear error model by shifting its states to the origin and by adding a dummy integral control state variables that are augmented with the nonlinear error model, the model became ready to be used to design a controller. The nonlinear controller which will enforce the system dynamics to follow the desired trajectory guarantee that the steering control system of the mobile robot will behave as a second order reference model with specified natural frequency and damping ratio is being selected by the designer, and the average speed control system will behave as a first order reference model with specified time constant chosen by the designer. The simulation results which is achieved by using MATLAB Rev. (14.9 2009b) show the potential of the proposed controller to track the mobile robot to the desired trajectory with very slight error.https://etj.uotechnology.edu.iq/article_100014_88e6502b3f3c2946c9b026f50791e6cd.pdfdifferentialdrive mobile robotintegral control |
| spellingShingle | Siba M. Sharef Firas A. Raheem Laith K. Majeed Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control Engineering and Technology Journal differential drive mobile robot integral control |
| title | Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control |
| title_full | Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control |
| title_fullStr | Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control |
| title_full_unstemmed | Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control |
| title_short | Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control |
| title_sort | design of trajectory tracking controller for a differential drive mobile robot platform based on integral control |
| topic | differential drive mobile robot integral control |
| url | https://etj.uotechnology.edu.iq/article_100014_88e6502b3f3c2946c9b026f50791e6cd.pdf |
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