Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage

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

“…After carrying out the review of the literature associated with design of controllers for the trajectory tracking task in differential drive WMRs, it was found that, generally, this task has been solved in three directions: (a) by only using the kinematic or dynamic model of the mechanical structure , (b) by employing the kinematic/dynamic model of the mechanical structure along with the dynamics of the actuators [85][86][87][88][89][90][91][92][93][94][95][96][97][98][99][100][101][102][103], and (c) by considering the kinematic model of the mechanical structure along with the dynamics of the actuators and power stage [104,105]. In the last direction, contributions that have carried out interesting efforts are [106][107][108][109][110][111][112][113][114].…”

“…Motivated by the aforementioned ideas, the hierarchical control approach in mobile robotics (see [86,104,105,115]), and use of DC/DC converter-DC motor systems (see [116,117]), the purpose of the present paper is threefold. First, it aims, to introduce a three-level hierarchical controller that considers dynamics of the three subsystems that compose a WMR to solve, in a more complete way, the trajectory tracking task.…”

“…Ortigoza et al in [104] presented a trajectory tracking controller by considering an input-output linearization-based controller for the mechanical structure, a controller based on differential flatness for the actuators, and a sliding mode plus PI controller for the power stage. In [105], Sánchez et al proposed a kinematic controller for the WMR, a controller based on differential flatness for the actuators, and a differential flatness-based controller for the power stage.…”

“…In [105], Sánchez et al proposed a kinematic controller for the WMR, a controller based on differential flatness for the actuators, and a differential flatness-based controller for the power stage. Controllers reported in [104,105] were tested only via numerical simulations.…”

“…In this subsection, controllers designed in Sections 4.1, 4.2, and 4.3 are integrated using a hierarchical approach (see [86,104,105,[115][116][117]) to solve the trajectory tracking task for a differential drive WMR when dynamics associated with each one of subsystems composing the WMR are considered (see Figure 1). Using the kinematic models associated with a differential drive WMR (1) and a reference robot (3), it was found that Complexity 7 velocity profiles and , ensuring ( , , ) → ( * , * , * ), are given by (8) and (9), respectively.…”