Simple discrete time traction control for a two-wheeled mobile robot

Abstract

Traction controls usually need dynamic parameters as an approximated reference in the model, such as inertia and friction or heavily computational estimator, such as slip ratio estimator and friction estimator. This paper is shown that the dynamic parameters in the traction controller can be negligible in some cases, internal sensor state variables and gain parameters are enough to retain some traction controllability. The controller is derived from the model following control method (MFC) on a discrete domain. Experiments are performed, in order to evaluate the efficiency of the simplified controller using a two-wheeled mobile robot, by comparing slippage between the position and velocity control scheme with and without the traction control scheme. The experimental results show that the proposed traction control scheme is able to suppress the slip and very simple to implement.