LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot

Sergio Morales, Jose Magallanes, Cesar Delgado, Ruth Canahuire

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

16 Citas (Scopus)

Resumen

The study of wheeled mobile robots (WMR) is a field of the robotics that is increasing rapidly where we can find applications in agriculture, mining, industries, etc. That is possible due to the newest types of locomotion and the holonomies of the WMR. In this context, there are different types of operational configurations for the WMR such as differential drive, Ackerman steering, omnidirectional or synchronous. For trajectory tracking tasks, the omnidirectional configuration is a good option since its holonomic characteristics offer greater freedom of movement and precision than the other configurations. The omnidirectional configuration requires an adequate control system to achieve the trajectory tracking, ensuring good performance regarding trajectory error. This paper aims to design and implement the LQR trajectory tracking control experimentally using a cascade control strategy to evaluate the performance of the WMR. The control system implemented will be compared with a PI controller where the results are shown and discussed in this paper.

Idioma originalInglés
Título de la publicación alojada2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
EditoresLorena Garcia, Pedro Wightman, Winston Percybrooks, Henry Carrillo, Carlos Quintero
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538684641
DOI
EstadoPublicada - 24 dic. 2018
Evento2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018 - Barranquilla, Colombia
Duración: 1 nov. 20183 nov. 2018

Serie de la publicación

Nombre2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018

Conferencia

Conferencia2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
País/TerritorioColombia
CiudadBarranquilla
Período1/11/183/11/18

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