Modeling and Experimental Validation of a Bidirectional DC/DC Buck Power Electronic Converter‑DC Motor System

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

“…It would be convenient, however, that the robot power stage be redesigned in order to perform bidirectional trajectory tracking [127][128][129].…”

Bidirectional Tracking Robust Controls for a DC/DC Buck Converter‐DC Motor System

“…Thus, to overcome this restriction, which has been a topic of interest in the last years, an inverter circuit has been introduced in such systems, leading to DC/DC converter-inverter-DC motor systems. In this direction, Ortigoza et al presented in [35] the modeling and experimental validation of the DC/DC Buck converter-inverter-DC motor system. While in [36], Ortigoza et al designed and tested a passivity-based tracking control for a built prototype of the same system.…”

“…After reviewing the literature of the DC motors driven by DC/DC power converters, it was found that different controls have executed the angular velocity regulation and trajectory tracking tasks in two fashions: (i) for unidirectional rotation of the motor shaft and (ii) for bidirectional rotation of the motor shaft [35][36][37][38][39][40][41]. From the point of view of the practical and industrial applications, are limited when compared with [35][36][37][38][39][40][41].…”

“…From the point of view of the practical and industrial applications, are limited when compared with [35][36][37][38][39][40][41]. Regarding the latter, to the authors' knowledge, for the DC/DC converter-inverter-DC motor systems, robust solution for the trajectory tracking has not been proposed.…”

“…Unlike the arrangements presented in [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29], such configuration allows the bidirectional driving of the motor shaft. The system average model presented in Figure 1, which was deduced and experimentally validated in [35], is given by…”