Abstract
This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.
Highlights
Pulse width modulation (PWM)-based power amplifiers are commonly employed to supply power to electromechanical systems
We extend the application of the control technique employed in [23,27], to the case when path-tracking is performed by a wheeled mobile robots (WMR) that employs two inverter-DC/DC Buck power electronic converter systems to feed both brushed DC-motors used as actuators
Control scheme that we propose in the present paper is composed by four internal PI control loops and one external PD path-tracking loop, which results in a simple and robust control law which is very similar to that commonly used in industrial practice
Summary
Pulse width modulation (PWM)-based power amplifiers are commonly employed to supply power to electromechanical systems. We extend the application of the control technique employed in [23,27], to the case when path-tracking is performed by a WMR that employs two inverter-DC/DC Buck power electronic converter systems to feed both brushed DC-motors used as actuators This is the first time that a formal stability proof is presented for this control problem by considering the dynamics of all the components together. The contribution of the present paper with respect to [33] is that we take into account the electrical dynamics of both DC motors and dynamics of the power electronic converters that are used as power amplifiers We stress that this is a novel control problem in wheeled mobile robots and this explains why any references are not found in the scientific literature.
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