Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

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 <i>mechanical st...

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Bibliographic Details
Main 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
Format: Article
Language:English
Published: MDPI AG 2018-12-01
Series:Sensors
Subjects:
trajectory tracking
wheeled mobile robot
DC motor
DC/DC Buck power converter
hierarchical switched controller
hierarchical average controller
kinematic control
flat system
cascade switched control
sliding mode control
PI control
Online Access:https://www.mdpi.com/1424-8220/18/12/4316

Internet

https://www.mdpi.com/1424-8220/18/12/4316

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