文章基本信息

标题：Vector-Based Modeling and Trajectory Tracking Control of Autonomous Two-Wheeled Robot
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作者：Nur Uddin ; Hendra G. Harno ; Wahyu Caesarendra 等
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：2021
卷号：48
期号：4
语种：English
出版社：IAENG - International Association of Engineers
摘要：This paper presents a new approach to kinematic modeling and trajectory tracking control system (TTCS) design of an autonomous two-wheeled robot. The robot kinematic modeling is carried out based on a vector diagram. It transforms the robot trajectory tracking problem into a stabilization problem of non-linear posture error dynamics. A solution is presented by applying a state feedback control. The posture error dynamics is linearized using the Taylor series and linear quadratic regulator (LQR) is applied to design the state feedback control. It results in a closed-loop system where all of the eigenvalues are real negative numbers. Performance evaluation of the TTCS is presented through numerical simulations in computer. The results show that the robot is able to track a reference trajectory without oscillation regardless of the robot initial posture.
关键词：autonomous robot;kinematics modeling;trajectory tracking control;optimal control design