A traction controller of a two-wheel mobile robot with feedforward compensator

Abstract

A simple traction controller was derived from a model following control (MFC) using bilinear transformation. The controller was simplified by adjusting some dynamic parameters. The experiments were conducted to evaluate the validity of the controller by comparing with the classical PD controller. In the experiments, while the traction controller can prevent slippage, tracking control performance needed to be improved. The feedforward compensation was added to reduce the traction error. The experimentation using the simple controller with feedforward shows that the position error has been reduced while maintaining the traction force between floor and wheels.