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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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

José Rafael García-Sánchez¹, Salvador Tavera-Mosqueda², Ramón Silva-Ortigoza²

¹División de Ingeniería Mecatrónica, Tecnológico de Estudios Superiores de Huixquilucan, Tecnológico Nacional de México, Estado de México 52773, Mexico.

Sensors (Basel, Switzerland)

|September 5, 2020

Summary

A novel dynamic three-level controller enhances trajectory tracking for wheeled mobile robots (WMRs). This advanced controller outperforms existing methods, ensuring robust performance even with system disturbances.

Keywords:

DC motors DC/DC power converters PI current control control design differential flatness dynamic three-level controller hierarchical controller mobile robots trajectory tracking

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Area of Science:

Robotics
Control Systems Engineering
Mechatronics

Background:

Trajectory tracking is crucial for wheeled mobile robot (WMR) applications.
Existing controllers often overlook the integrated dynamics of mechanical, actuator, and power subsystems.
Robustness against parametric disturbances remains a key challenge in WMR control.

Purpose of the Study:

To develop and validate a dynamic three-level controller for WMR trajectory tracking.
To integrate mechanical, actuator, and power stage dynamics into a unified control strategy.
To compare the proposed controller's performance against a recently reported hierarchical tracking controller.

Main Methods:

A high-level dynamic control for the WMR (differential drive).
A medium-level PI current control for DC motor actuators.
A low-level differential flatness-based control for DC/DC Buck power converters.
Experimental validation on a DDWMR prototype using Matlab-Simulink, ControlDesk, and a DS1104 board.

Main Results:

The proposed dynamic three-level controller demonstrated feasibility, robustness, and closed-loop performance.
Experimental assessment confirmed the controller's effectiveness in trajectory tracking.
The novel controller showed superior performance compared to a hierarchical tracking controller under parametric disturbances.

Conclusions:

The dynamic three-level controller effectively addresses WMR trajectory tracking by considering multiple subsystems.
The controller offers enhanced robustness and performance over existing hierarchical approaches.
This work provides a validated, superior control solution for WMR trajectory tracking tasks.