An improvement to the conventional PD scheme for the speed control of a two-wheeled differential steering mobile robot

被引：0

作者：

Deshmukh R.A. ^{[1
]}

Hasamnis M.A. ^{[1
]}

机构：

[1] Department of Electronics Engineering, Shri Ramdeobaba College of Engineering and Management, Maharashtra, Nagpur

来源：

International Journal of Information Technology | 2023年 / 15卷 / 6期

关键词：

DC motor; Dynamic model; Kinematic model; Mobile robot; PD controller; PID controller; Speed control;

D O I：

10.1007/s41870-023-01337-0

中图分类号：

学科分类号：

摘要：

This work presents an improved Proportional-Derivative (PD) scheme for speed control in two-wheeled differential steering mobile robots (TWDSMRs). In contrast with the conventional PD scheme, this work incorporates individual PD controllers tailored for each of the two drive motors of the mobile robot. This arrangement handles robot dynamics effectively without actually using the complex dynamic model. The proposed scheme uses a kinematic model of the mobile robot for designing a speed controller. An in-house developed TWDSMR assesses the effectiveness of the proposed method. A tuning experiment gives the optimized values of proportional and derivative gains for the individual motor PD controller. Though implemented on a simple kinematic model, the proposed scheme shows a low overshoot of 14%, a quick response time of 0.15 s and fast convergence time of 0.9 s compared to the controllers based on dynamic and mixed models reported in the literature. © 2023, The Author(s), under exclusive licence to Bharati Vidyapeeth's Institute of Computer Applications and Management.

引用

页码：3093 / 3101

页数：8

共 22 条

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