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Sensors 2018, 18(12), 4316; https://doi.org/10.3390/s18124316

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

1
Departamento de Procesos Productivos, Unidad Lerma, Universidad Autónoma Metropolitana, Estado de Mexico 52005, Mexico
2
Área de Mecatrónica & Energía Renovable, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Ciudad de Mexico 07700, Mexico
3
Facultad de Ingeniería, Universidad Autónoma de Querétaro, Querétaro 76010, Mexico
4
Sección de Estudios de Posgrado e Investigación, Unidad Profesional Interdisciplinaria de Ingeniería y Ciencias Sociales y Administrativas, Instituto Politécnico Nacional, Ciudad de Mexico 08400, Mexico
*
Authors to whom correspondence should be addressed.
Received: 11 October 2018 / Revised: 15 November 2018 / Accepted: 30 November 2018 / Published: 7 December 2018
(This article belongs to the Section Sensor Networks)
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Abstract

By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature. View Full-Text
Keywords: trajectory tracking; wheeled mobile robot; DC motor; DC/DC Buck power converter; hierarchical switched controller; hierarchical average controller; kinematic control; flat system; cascade switched control; sliding mode control; PI control trajectory tracking; wheeled mobile robot; DC motor; DC/DC Buck power converter; hierarchical switched controller; hierarchical average controller; kinematic control; flat system; cascade switched control; sliding mode control; PI control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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García-Sánchez, J.R.; Tavera-Mosqueda, S.; Silva-Ortigoza, R.; Hernández-Guzmán, V.M.; Sandoval-Gutiérrez, J.; Marcelino-Aranda, M.; Taud, H.; Marciano-Melchor, M. Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers. Sensors 2018, 18, 4316.

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