Uddin, Nur (2020) A Two-Wheeled Robot Trajectory Tracking Control System Design Based on Poles Domination Approach. IAENG International Journal of Computer Science, 47:2, IJCS_47_2_03, 47 (2). pp. 1-8.
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Abstract
A trajectory tracking control system design of mobile robot based on poles domination approach is presented. A two wheeled robot is used as a study case in deriving the method. Trajectory tracking problem of the robot is formulated as a stabilization problem of the robot posture error dynamics. A state feedback control system is applied in stabilizing the posture error dynamics. The state feedback control law is designed by approximating the posture error dynamics as a third order linear system. A control gain matrix is obtained through factorizing the closed loop system characteristic into a first and a second order systems. Elements of the control matrix are determined by defining the desired closed loop system characteristic, i.e: time constant, system damping, and natural frequency. Domination of the first order system part and the second order system part in the closed loop system are evaluated through computer simulations. The results show that domination of the second order system part resulted in better tracking performance than domination of the first order system part. This presented method offers a simple technique for designing a mobile-robot trajectory tracking system.
| Item Type: | Artikel Jurnal/Prosiding |
|---|---|
| Uncontrolled Keywords: | Autonomous mobile robot, two-wheeled robot, trajectory tracking control, control design, poles domination. |
| Subjects: | N Fine Arts > NC Drawing Design Illustration |
| Divisions: | Fakultas Teknologi dan Desain > Informatika |
| Depositing User: | Admin Repository |
| Date Deposited: | 21 Jun 2022 07:18 |
| Last Modified: | 16 Jan 2023 01:47 |
| URI: | http://eprints.upj.ac.id/id/eprint/2682 |
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