LPV Controller Design for Terrestrial Mobile Robot With Tilt Compensation

Abstract

This work presents an LPV (Linear Parameter Varying) controller design for the trajectory tracking problem of nonholonomic wheeled mobile robots (NWMR). The scheduling varying parameters are defined as the feedforward velocities which the robot has to track according to a desired trajectory. The proposed model also includes the robot's motion over a tilted environment. A tilt-compensation scheme is used to maintain the ground speed of the robot if the robot is subjected to an inclination. The compensation is computed on the feedforward velocities. For practical purposes, the inclination angle is measured by an Inertial Measuring Unit. Thus, a sensor fusion model is proposed to fuse data from an accelerometer and a gyroscope. Simulation results are presented in order to evaluate the performance of the controller, sensor fusion and tilt-compensation models.