Control de Seguimiento de Trayectorias de un Robot Móvil de Ruedas Tipo Diferencial Considerando las Dinámicas de los Actuadores y Etapa de Potencia (Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage)

Ramón Silva Ortigoza (rsilvao@ipn.mx)2, José Rafael García Sánchez (jrgs_ipn@hotmail.com)2, Victor Manuel Hernández Guzmán (ortigoza64@hotmail.com)1, Celso Márquez Sánchez (insqui2000@hotmail.com)2, Mariana Marcelino Aranda (mmarcelino@ipn.mx)3


1Universidad Autónoma de Querétaro
2CIDETEC-IPN
3UPIICSA-IPN

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2016
Volume: 14,   Issue: 2 
ISSN: 1548-0992


Abstract:
In this work a three-level controller that carries out the trajectory tracking task for a differential drive wheeled mobile robot (WMR) is presented. Such a controller considers, for the first time in literature, the dynamics associated with the three subsystems that compose a WMR, i.e., mechanical structure, actuators, and power stage. The high level corresponds to an input-output linearization control for the mechanical structure; the medium level is based on two sensorless controls designed via differential flatness for the actuators; and the low level is related to two cascade controls based on sliding modes and PI control for the power stage. The performance and robustness of the controller is verified and shown via realistic simulations when parametric uncertainties associated with the subsystems that compose the WMR are considered.

Index Terms:
Trajectory tracking, Wheeled mobile robot, DC motor, DC/DC Buck power converter, Input-output linearization, Flat system, Cascade control, Sliding mode control, PI control   


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