The impact of the dynamic model in feedback linearization trajectory tracking of a mobile robot

被引：0
作者：
Benchouche W. [1 ]
Mellah R. [1 ]
Bennouna M.S. [2 ]
机构：
[1] Design and Drive of Production Systems Laboratory, Faculty of Electrical and Computing Engineering, University Mouloud Mammri of Tizi-Ouzou, P. O. B. 17 RP, Tizi-Ouzou
[2] Department of Mechanical Engineering, University Kasdi Merbah Ouargla, P. O. B. 511, Ouargla
来源：
Benchouche, Welid (welidbenchouche@gmail.com) | 1600年 / Budapest University of Technology and Economics卷 / 65期
关键词：
Dynamic modeling; IO-SFL; Lyapunov asymptotic stability; Mobile robots; Trajectory tracking;
D O I：
10.3311/PPee.17127
中图分类号：
学科分类号：
摘要：
This paper proposes the impact of the Dynamic model in Input-Output State Feedback Linearization (IO-SFL) technique for trajectory tracking of differential drive mobile robots, which has been restricted to using just the kinematics in most of the previous approaches. To simplify the control problem, this paper develops a novel control approach based on the velocity and position control strategy. To improve the results, the dynamics are taken into account. The objective of this paper is to illustrate the flaws unseen when adopting the kinematics-only controllers because the nonlinear kinematic model will suffice for control design only when the inner velocity (dynamic) loop is faster than the slower outer control loop. This is a big concern when using kinematic controllers to robots that don't have a low-level controller, Arduino robots for example. The control approach is verified using the Lyapunov stability analysis. MATLAB/SIMULINK is carried out to determine the impact of the proposed controller for the trajectory tracking problem, from the simulation, it was discovered that the proposed controller has an excellent dynamic characteristic, simple, rapid response, stable capability for trajectory-tracking, and ignorable tracking error. A comparison between the presence and absence of the dynamic model shows the error in tracking due to dynamic system that must be taken into account if our system doesn't come with a built-in one, thus, confirming the superiority of the proposed approach in terms of precision, with a neglectable difference in computations. © 2021 Budapest University of Technology and Economics. All rights reserved.
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页码：329 / 343
页数：14
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