文章基本信息

标题：A Two-Wheeled Robot Trajectory Tracking Control System Design Based on Poles Domination Approach
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作者：Nur Uddin
期刊名称：IAENG International Journal of Computer Science
印刷版ISSN：1819-656X
电子版ISSN：1819-9224
出版年度：2020
卷号：47
期号：2
语种：English
出版社：IAENG - International Association of Engineers
摘要：A trajectory tracking control system design of mobile robot based on poles domination approach is presented. A two-wheeled robot is used as a study case in deriving the method. Trajectory tracking problem of the robot is formulated as a stabilization problem of the robot posture error dynamics. A state feedback control system is applied in stabilizing the posture error dynamics. The state feedback control law is designed by approximating the posture error dynamics as a third order linear system. A control gain matrix is obtained through factorizing the closed loop system characteristic into a first and a second order systems. Elements of the control matrix are determined by defining the desired closed loop system characteristic, i.e: time constant, system damping, and natural frequency. Domination of the first order system part and the second order system part in the closed loop system are evaluated through computer simulations. The results show that domination of the second order system part resulted in better tracking performance than domination of the first order system part. This presented method offers a simple technique for designing a mobile-robot trajectory tracking system.
关键词：Autonomous mobile robot;two-wheeled robot;trajectory tracking control;control design;poles domination