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

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Summary
This summary is machine-generated.

A new hierarchical switched controller enhances trajectory tracking for differential drive wheeled mobile robots (DDWMRs). This advanced control system demonstrates robust performance, even with system uncertainties, outperforming existing methods.

Keywords:
DC motorDC/DC Buck power converterPI controlcascade switched controlflat systemhierarchical average controllerhierarchical switched controllerkinematic controlsliding mode controltrajectory trackingwheeled mobile robot

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Area of Science:

  • Robotics and Control Systems
  • Mechatronics Engineering

Background:

  • Trajectory tracking is a critical challenge in mobile robotics.
  • Existing control methods for differential drive wheeled mobile robots (DDWMRs) often face limitations in handling system dynamics and uncertainties.

Purpose of the Study:

  • To present a novel hierarchical switched controller for DDWMR trajectory tracking.
  • To analyze and compare the performance of the proposed controller against a hierarchical average controller.

Main Methods:

  • A three-level hierarchical control structure was designed, integrating kinematic control, differential flatness for actuators, and cascade sliding mode/PI control for the power stage.
  • The controller was implemented on a DDWMR prototype using MATLAB-Simulink and a DS1104 board for experimental validation.
  • Controller robustness was assessed under parametric uncertainties.

Main Results:

  • The proposed hierarchical switched controller demonstrated robust performance in trajectory tracking, even when subjected to parametric uncertainties.
  • Experimental results indicated that the switched controller's performance was superior to, or at least comparable with, a recently reported hierarchical average controller.
  • The controller effectively managed the dynamics of the mechanical structure, actuators (DC motors), and power stage (DC/DC Buck converters).

Conclusions:

  • The developed hierarchical switched controller offers an effective solution for trajectory tracking in DDWMRs.
  • The controller's robustness and performance highlight its potential for real-world mobile robot applications.
  • This approach provides a significant advancement over existing hierarchical control strategies for DDWMRs.