A PD path-tracking controller plus inner velocity loops for a wheeled mobile robot |
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Authors: | Victor M. Hernández-Guzmán Ramón Silva-Ortigoza Celso Márquez-Sánchez |
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Affiliation: | 1. Facultad de Ingeniería, Universidad Autónoma de Querétaro, AP 3-24, C.P. 76150, Querétaro, Qro, Mexico.vmhg@uaq.mx;3. Instituto Politécnico Nacional, CIDETEC, área de Mecatrónica. Unidad Profesional Adolfo López Mateos, C.P. 07700 México, D.F., Mexico. |
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Abstract: | In this paper, we present a controller to solve the path-tracking task in a wheeled mobile robot. We show that a linear PD controller, driven by the tracking error, can be used to generate the desired profiles to be tracked by the motor velocities by means of two linear inner proportional-integral loops. We formally prove that an ultimate bound exists which can be rendered small by a suitable selection of the controller gains. This is the first time that such a result is presented in the literature when considering, simultaneously, both the kinematic and the dynamic models of the wheeled mobile robot. |
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Keywords: | wheeled mobile robots path tracking Lyapunov stability ultimate bound PD control |
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