Manoeuvring of Differential Drive Mobile Robots on Horizontal Plane through I/O Decoupling

Kouvakas, Nikolaos D.; Koumboulis, Fotis N.; Sigalas, John

doi:10.1109/etfa52439.2022.9921655

Cited by 4 publications

(8 citation statements)

References 19 publications

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“…The efficacy of this control strategy is confirmed through numerous computational tests, demonstrating its satisfactory performance. It is important to mention that the nonlinear nature of the herein proposed control scheme appears to have the distinct advantage of not depending on the operating point of the mobile robot, similarly to, for example, the controllers in [5,11,31]. In the present case, the operating points would be affected by the unknown modelling errors.…”

Section: Introductionmentioning

confidence: 94%

“…Here, the dynamics of the differential drive mobile robot depicted in Figure 1 are studied, under pure rolling and no lateral slip conditions. The active wheels of the mobile robot are driven by appropriate DC motors, indicatively see [1][2][3][4][5]. As already mentioned, the dynamics of the vehicle will be extended to include unknown external disturbances and unknown actuator faults.…”

Section: Mobile Robot Nonlinear Dynamics With Additive Modelling Errorsmentioning

confidence: 99%

“…Similarly, the actuator faults are represented as unknown additive voltages of the driving motors. According to [5] and considering the above additive disturbances and faults, the nonlinear dynamic model describing the motion of the mobile robot is expressed in a nonlinear state space form as follows:…”

Section: Mobile Robot Nonlinear Dynamics With Additive Modelling Errorsmentioning

confidence: 99%

“…Differential drive mobile robots (see [1][2][3][4][5][6][7][8][9]), being generally equipped with two separately driven wheels that are mounted on a common axis and a castor wheel for balance, provide advantages in various robotic vehicular applications. Their simplistic yet effective design enables precise turning and maneuvering capabilities, which prove crucial in confined or cluttered spaces.…”

Section: Introductionmentioning

confidence: 99%

“…The combination of maneuverability, cost-effectiveness, and ease of integration positions differential drive mobile robots as a versatile and efficient solution in the ever-evolving landscape of robotics and automation. In order to control the performance variables of such robotic vehicles, several control approaches have been proposed, including, among many, PID type of controllers (see [10][11][12]), linear static state feedback controllers (see [5]), optimal type of controllers (see [13][14][15][16]), predictive controllers (see [17,18]), and fuzzy (see [19,20]) and adaptive controllers (see [21,22]).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

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Differential drive mobile robots, being widely used in several industrial and domestic applications, are increasingly demanding when concerning precision and satisfactory maneuverability. In the present paper, the problem of independently controlling the velocity and orientation angle of a differential drive mobile robot is investigated by developing an appropriate two stage nonlinear controller embedded on board and also by using the measurements of the speed and accelerator of the two wheels, as well as taking remote measurements of the orientation angle and its rate. The model of the system is presented in a nonlinear state space form that includes unknown additive terms arising from external disturbances and actuator faults. Based on the nonlinear model of the system, the respective I/O relation is derived, and a two-stage nonlinear measurable output feedback controller, analyzed into an internal and an external controller, is designed. The internal controller aims to produce a decoupled inner closed-loop system of linear form, regulating the linear velocity and angular velocity of the mobile robot independently. The internal controller is of the nonlinear PD type and uses real time measurements of the angular velocities of the active wheels of the vehicle, as well as the respective accelerations. The external controller aims toward the regulation of the orientation angle of the vehicle. It is of a linear, delayed PD feedback form, offering feedback from the remote measurements of the orientation angle and angular velocity of the vehicle, which are transmitted to the controller through a wireless network. Analytic formulae are derived for the parameters of the external controller to ensure the stability of the closed-loop system, even in the presence of the wireless transmission delays, as well as asymptotic command following for the orientation angle. To compensate for measurement noise, external disturbances, and actuator faults, a metaheuristic algorithm is proposed to evaluate the remaining free controller parameters. The performance of the proposed control scheme is evaluated through a series of computational experiments, demonstrating satisfactory behavior.

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Section: Introductionmentioning

confidence: 94%