TY - GEN
T1 - LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot
AU - Morales, Sergio
AU - Magallanes, Jose
AU - Delgado, Cesar
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/24
Y1 - 2018/12/24
N2 - 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.
AB - 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.
KW - Cascade control
KW - LQR controller
KW - Omnidirectional robot
KW - PI controller
KW - Trajectory control
UR - http://www.scopus.com/inward/record.url?scp=85061007001&partnerID=8YFLogxK
U2 - 10.1109/CCRA.2018.8588146
DO - 10.1109/CCRA.2018.8588146
M3 - Conference contribution
AN - SCOPUS:85061007001
T3 - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
BT - 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
A2 - Garcia, Lorena
A2 - Wightman, Pedro
A2 - Percybrooks, Winston
A2 - Carrillo, Henry
A2 - Quintero, Carlos
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
Y2 - 1 November 2018 through 3 November 2018
ER -