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A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment

In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dyna...

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Autores principales: García-Sánchez, José Rafael, Tavera-Mosqueda, Salvador, Silva-Ortigoza, Ramón, Hernández-Guzmán, Victor Manuel, Marciano-Melchor, Magdalena, Rubio, José de Jesús, Ponce-Silva, Mario, Hernández-Bolaños, Miguel, Martínez-Martínez, Jesús
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7506706/
https://www.ncbi.nlm.nih.gov/pubmed/32887264
http://dx.doi.org/10.3390/s20174959
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author García-Sánchez, José Rafael
Tavera-Mosqueda, Salvador
Silva-Ortigoza, Ramón
Hernández-Guzmán, Victor Manuel
Marciano-Melchor, Magdalena
Rubio, José de Jesús
Ponce-Silva, Mario
Hernández-Bolaños, Miguel
Martínez-Martínez, Jesús
author_facet García-Sánchez, José Rafael
Tavera-Mosqueda, Salvador
Silva-Ortigoza, Ramón
Hernández-Guzmán, Victor Manuel
Marciano-Melchor, Magdalena
Rubio, José de Jesús
Ponce-Silva, Mario
Hernández-Bolaños, Miguel
Martínez-Martínez, Jesús
author_sort García-Sánchez, José Rafael
collection PubMed
description In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.
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spelling pubmed-75067062020-09-26 A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment García-Sánchez, José Rafael Tavera-Mosqueda, Salvador Silva-Ortigoza, Ramón Hernández-Guzmán, Victor Manuel Marciano-Melchor, Magdalena Rubio, José de Jesús Ponce-Silva, Mario Hernández-Bolaños, Miguel Martínez-Martínez, Jesús Sensors (Basel) Article In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature. MDPI 2020-09-02 /pmc/articles/PMC7506706/ /pubmed/32887264 http://dx.doi.org/10.3390/s20174959 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
García-Sánchez, José Rafael
Tavera-Mosqueda, Salvador
Silva-Ortigoza, Ramón
Hernández-Guzmán, Victor Manuel
Marciano-Melchor, Magdalena
Rubio, José de Jesús
Ponce-Silva, Mario
Hernández-Bolaños, Miguel
Martínez-Martínez, Jesús
A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title_full A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title_fullStr A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title_full_unstemmed A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title_short A Novel Dynamic Three-Level Tracking Controller for Mobile Robots Considering Actuators and Power Stage Subsystems: Experimental Assessment
title_sort novel dynamic three-level tracking controller for mobile robots considering actuators and power stage subsystems: experimental assessment
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7506706/
https://www.ncbi.nlm.nih.gov/pubmed/32887264
http://dx.doi.org/10.3390/s20174959
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