Control de un robot móvil de ruedas sin utilizar medidas de variables mecánicas en el control de los actuadores (Trajectory Tracking in a Mobile Robot without Using Velocity Measurements for Control of Wheels)

Ramón Silva-Ortigoza (, Gilberto Silva-Ortigoza (, Víctor Manuel Hernández-Guzmán (, Víctor Ricardo Barrientos-Sotelo1, Juan Martín Albarrán-Jiménez4, Víctor Manuel Silva-García1

1Instituto Politécnico Nacional
2Universidad Autónoma de Puebla
3Universidad Autónoma de Querétaro
4Universidad Politécnica del Valle de México

This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2008
Volume: 6,   Issue: 7 
ISSN: 1548-0992

In this paper we present a solution for the trajectory tracking problem in a Newt mobile robot. We exploit the differential flatness property of the robot kinematic model to propose an input-output linearization controller which allows both the position and the orientation to track a desired trajectory. An important assumption is that robot has to be initially placed at a point on such a desired trajectory. This controller provides the velocity profiles that the robot wheels have to track and a second controller has to be designed in order to ensure the latter. This is accomplished by means of another differential flatness based control scheme which does not require measurements of any mechanical variables, i.e. velocities, to control the DC motors used as actuators at the wheels. We verify our findings through numerical simulations.

Index Terms:
DC Motor, Differential flatness, Mobile Robots, Trajectory Tracking.   

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