Classical modeling and control methods applied to differential locomotion mobile robots generate mathematical equations that approximate the dynamics of the system and work relatively well when the system is linear in a specific range. However, they may have low accuracy when there are many variations of the dynamics over time or disturbances occur. To solve this problem, we used a recursive least squares (RLS) method that uses a discrete-time structure first-order autoregressive model with exogenous variable (ARX). We design and modify PID adaptive self-adjusting controllers in phase margin and pole allocation. The main contribution of this methodology is that it allows the permanent and online update of the robot model and the parameters of the adaptive self-adjusting PID controllers. In addition, a Lyapunov stability analysis technique was implemented for path and trajectory tracking control, this makes the errors generated in the positioning and orientation of the robot when performing a given task tend asymptotically to zero. The performance of the PID adaptive self-adjusting controllers is measured through the implementation of the criteria of the integral of the error, which allows to determine the controller of best performance, being in this case, the PID adaptive self-adjusting type in pole assignment, allowing the mobile robot greater precision in tracking the trajectories and paths assigned, as well as less mechanical and energy wear, due to its smooth and precise movements.
Despite the wide variety of studies and research on mobile robot systems, performance metrics are not an objective comparison of achievements. In this paper, the navigation of an autonomous mobile These metrics, collectively, provide an indication of navigation quality, useful for comparing and analyzing navigation algorithms of mobile robots. This method is suggested as an educational tool, which allows the student to optimize the algorithms quality, relating to important aspects of science, technology and engineering teaching, as energy consumption, optimization and design. Keywords: Educational robotics, Mobile robots, ResumenA pesar de la amplia variedad de estudios e inves tigaciones sobre los sistemas de robots móviles, a objetiva de los logros. En este trabajo se evalúa la un indicador de la calidad de la navegación, útil para comparar y analizar los algoritmos de nave como una herramienta educativa que permite al estudiante optimizar la calidad de los algoritmos, relacionando aspectos importantes de la ciencia, la tecnología y la enseñanza de la ingeniería, como el consumo de energía, la optimización y el diseño. Palabras clave: Robótica Educativa, Robots MóRendimiento.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.