A PD path-tracking controller plus inner velocity loops for a wheeled mobile robot

In this paper, we present a controller to solve the path-tracking task in a wheeled mobile robot. We show that a linear PD controller, driven by the tracking error, can be used to generate the desired profiles to be tracked by the motor velocities by means of two linear inner proportional-integral l...

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Bibliographic Details
Published inAdvanced robotics Vol. 29; no. 16; pp. 1015 - 1029
Main Authors Hernández-Guzmán, Victor M., Silva-Ortigoza, Ramón, Márquez-Sánchez, Celso
Format Journal Article
LanguageEnglish
Published Taylor & Francis 18.08.2015
Subjects
Controllers
Dynamic models
Gain
Lyapunov stability
Motors
path tracking
PD control
Robots
Tasks
Tracking
Tracking errors
ultimate bound
wheeled mobile robots
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Summary:In this paper, we present a controller to solve the path-tracking task in a wheeled mobile robot. We show that a linear PD controller, driven by the tracking error, can be used to generate the desired profiles to be tracked by the motor velocities by means of two linear inner proportional-integral loops. We formally prove that an ultimate bound exists which can be rendered small by a suitable selection of the controller gains. This is the first time that such a result is presented in the literature when considering, simultaneously, both the kinematic and the dynamic models of the wheeled mobile robot.
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ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2015.1033459