TY - GEN
T1 - Fractional order tracking control of a wheeled mobile robot
AU - Rojas-Moreno, Arturo
AU - Perez-Valenzuela, Gian
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/20
Y1 - 2017/10/20
N2 - This work implements two trajectory tracking control systems for a differential drive WMR (Wheeled Mobile Robot). The first control system employs an IO PD (Integer Order Proportional Derivate) controller, while the second uses a FO (Fractional Order) PD controller. The IO PD controller becomes a FO PD controller by making fractional the derivative term. That is, replacing the Laplace operator s by sm, where m is a fractional number between 0 and 1. Experimental results demonstrated that the IO and FO PD controllers ensure posture stability of the feedback control system as well as a good control performance. However, the FO PD control system shown a better tracking of the desired trajectory. WMR kinematics was employed to obtain the required linear and angular velocities.
AB - This work implements two trajectory tracking control systems for a differential drive WMR (Wheeled Mobile Robot). The first control system employs an IO PD (Integer Order Proportional Derivate) controller, while the second uses a FO (Fractional Order) PD controller. The IO PD controller becomes a FO PD controller by making fractional the derivative term. That is, replacing the Laplace operator s by sm, where m is a fractional number between 0 and 1. Experimental results demonstrated that the IO and FO PD controllers ensure posture stability of the feedback control system as well as a good control performance. However, the FO PD control system shown a better tracking of the desired trajectory. WMR kinematics was employed to obtain the required linear and angular velocities.
UR - https://www.scopus.com/pages/publications/85040015270
U2 - 10.1109/INTERCON.2017.8079683
DO - 10.1109/INTERCON.2017.8079683
M3 - Conference contribution
AN - SCOPUS:85040015270
T3 - Proceedings of the 2017 IEEE 24th International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2017
BT - Proceedings of the 2017 IEEE 24th International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th IEEE International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2017
Y2 - 15 August 2017 through 18 August 2017
ER -