Uddin, Nur (2018) A Robot Trajectory Tracking Control System Design Using Pole Domination Approach. Institute of Electrical and Electronics Engineers. pp. 506-129. ISSN 978-1-5386-7266-2/18
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Abstract
Abstract—A trajectory tracking control system (TTCS) design of two-wheeled robot (TWR) based on a pole domination approach is presented. The TTCS is a state feedback control system to make a TWR asymptotically stable track a reference trajectory. The state feedback control is designed based on a trajectory tracking error dynamics model. The model is a third order linear system that is derived based on the TWR kinematics. Analysis of the closed loop control system results in a simplestructure control gain matrix. The control gain matrix can be adjusted such that the closed loop system response is dominated by one of the three system poles. This one-pole domination may reduce overshoot in the system response and becomes an advantage of the TTCS. Performance of the designed TTCS based on the one-pole domination is demonstrated through computer simulations. The simulation results show that the designed system is able to make the TWR track a desired trajectory with less overshoot. This approach provides a simple method in designing TTCS of a robot with less overshoot. Moreover, the control gain matrix with simple structure makes hardware implementation to be easily done.
| Item Type: | Artikel Jurnal/Prosiding |
|---|---|
| Uncontrolled Keywords: | Autonomous two-wheeled robot, trajectory tracking control, pole placement, dominant pole. |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Fakultas Teknologi dan Desain > Informatika |
| Depositing User: | Admin Repository |
| Date Deposited: | 21 Jun 2022 08:47 |
| Last Modified: | 21 Jun 2022 08:47 |
| URI: | http://eprints.upj.ac.id/id/eprint/2692 |
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