Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot
Accurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks. In high-speed movements, time delays appear when reaching the desired position and orientation, as well as overshoots in the changes of orientation, which prevent the execution of some tasks. On...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/1/14 |
| _version_ | 1827623735045128192 |
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| author | Luis Mérida-Calvo Andrés San-Millán Rodríguez Francisco Ramos Vicente Feliu-Batlle |
| author_facet | Luis Mérida-Calvo Andrés San-Millán Rodríguez Francisco Ramos Vicente Feliu-Batlle |
| author_sort | Luis Mérida-Calvo |
| collection | DOAJ |
| description | Accurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks. In high-speed movements, time delays appear when reaching the desired position and orientation, as well as overshoots in the changes of orientation, which prevent the execution of some tasks. One of the aspects that most influences the tracking performance is the control system of the actuators of the robot wheels. It usually implements PID controllers that, in the case of low-cost robots, do not yield a good tracking performance owing to friction nonlinearity, hardware time delay and saturation. We propose to overcome these problems by designing an advanced process control system composed of a PID controller plus a prefilter combined with a Smith predictor, an anti-windup scheme and a Coulomb friction compensator. The contribution of this article is the motor control scheme and the method to tune the parameters of the controllers. It has been implemented in a well-known low-cost small mobile robot and experiments have been carried out that demonstrate the improvement achieved in the performance by using this control system. |
| first_indexed | 2024-03-09T11:54:51Z |
| format | Article |
| id | doaj.art-cd07d5f21af743ffb8a1ef30d1e7999d |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T11:54:51Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-cd07d5f21af743ffb8a1ef30d1e7999d2023-11-30T23:10:42ZengMDPI AGMachines2075-17022022-12-011111410.3390/machines11010014Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile RobotLuis Mérida-Calvo0Andrés San-Millán Rodríguez1Francisco Ramos2Vicente Feliu-Batlle3Instituto de Investigaciones Energéticas y Aplicaciones Industriales, Universidad de Castilla-La Mancha, 13071 Ciudad Real, SpainCentre for Applied Dynamics Research, School of Engineering, University of Aberdeen, Aberdeen AB24 3UE, UKEscuela Técnica Superior de Ingeniería Industrial de Ciudad Real, Universidad de Castilla-La Mancha, 13071 Ciudad Real, SpainEscuela Técnica Superior de Ingeniería Industrial de Ciudad Real, Universidad de Castilla-La Mancha, 13071 Ciudad Real, SpainAccurate trajectory tracking is a paramount objective when a mobile robot must perform complicated tasks. In high-speed movements, time delays appear when reaching the desired position and orientation, as well as overshoots in the changes of orientation, which prevent the execution of some tasks. One of the aspects that most influences the tracking performance is the control system of the actuators of the robot wheels. It usually implements PID controllers that, in the case of low-cost robots, do not yield a good tracking performance owing to friction nonlinearity, hardware time delay and saturation. We propose to overcome these problems by designing an advanced process control system composed of a PID controller plus a prefilter combined with a Smith predictor, an anti-windup scheme and a Coulomb friction compensator. The contribution of this article is the motor control scheme and the method to tune the parameters of the controllers. It has been implemented in a well-known low-cost small mobile robot and experiments have been carried out that demonstrate the improvement achieved in the performance by using this control system.https://www.mdpi.com/2075-1702/11/1/14mobile robotsadvanced process controlDC motor frictionnon-linear systemantiwindupSmith predictor |
| spellingShingle | Luis Mérida-Calvo Andrés San-Millán Rodríguez Francisco Ramos Vicente Feliu-Batlle Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot Machines mobile robots advanced process control DC motor friction non-linear system antiwindup Smith predictor |
| title | Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot |
| title_full | Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot |
| title_fullStr | Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot |
| title_full_unstemmed | Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot |
| title_short | Advanced Motor Control for Improving the Trajectory Tracking Accuracy of a Low-Cost Mobile Robot |
| title_sort | advanced motor control for improving the trajectory tracking accuracy of a low cost mobile robot |
| topic | mobile robots advanced process control DC motor friction non-linear system antiwindup Smith predictor |
| url | https://www.mdpi.com/2075-1702/11/1/14 |
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