Uddin, Nur and Harno, Hendra G. and Caesarendra, Wahyu (2021) Vector-Based Modeling and Trajectory Tracking Control of Autonomous Two-Wheeled Robot. IAENG International Journal of Computer Science, 48:4, IJCS_48_4_23, 48 (4). pp. 1-7.
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Abstract
This paper presents a new approach to kinematic modeling and trajectory tracking control system (TTCS) design of an autonomous two-wheeled robot. The robot kinematic modeling is carried out based on a vector diagram. It transforms the robot trajectory tracking problem into a stabilization problem of non-linear posture error dynamics. A solution is presented by applying a state feedback control. The posture error dynamics is linearized using the Taylor series and linear quadratic regulator (LQR) is applied to design the state feedback control. It results in a closed-loop system where all of the eigenvalues are real negative numbers. Performance evaluation of the TTCS is presented through numerical simulations in computer. The results show that the robot is able to track a reference trajectory without oscillation regardless of the robot initial posture.
| Item Type: | Artikel |
|---|---|
| Uncontrolled Keywords: | Index Terms—autonomous robot, kinematics modeling, trajectory tracking control, optimal control design. |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Fakultas Teknologi dan Desain > Informatika |
| Depositing User: | Admin Repository |
| Date Deposited: | 21 Jun 2022 07:44 |
| Last Modified: | 16 Jan 2023 01:58 |
| URI: | http://eprints.upj.ac.id/id/eprint/2685 |
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