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Discrete Time Linear Quadratic Tracking Controller for Omni-Directional Mobile Robots

[+] Author Affiliations
Ehsan Hashemi, Maani Ghaffari Jadidi

Islamic Azad University, Qazvin Branch, Qazvin, Iran

Paper No. DETC2011-47354, pp. 419-426; 8 pages
doi:10.1115/DETC2011-47354
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

The purpose of this investigation is to suggest and examine a trajectory follower control system for linear discrete dynamic model of omni-directional mobile robots to reach a controller with optimal inputs for drivers. Introducing optimal controllers for multi input-multi output control systems in acceleration and deceleration maneuvers to track a specified path is one of essential subjects for motion study of omni-directional mobile robots. Regulated drivers’ rotational velocities and torques greatly affect the ability of these robots to perform trajectory planner tasks. Moreover, environmental influencing factors shall also be considered in such robot models for accurate path planning. Presented tracking control system in this article provides an optimal solution to minimize differences between reference trajectory and system output in the lately developed simulated model. Trajectory following system together with implemented kinematic and dynamic modeling for an optimal controller to satisfy the path planning prerequisites is mainly discussed in this paper in several sections. Main topics presented and discussed in this article are considerable improvements in simulation of the newly optimized controller by Linear Quadratic Regulator and Tracking. Utilizing the new approach on tracking controller design results in the more precise and appropriate tracking behavior of omni-directional mobile robots as the simulation and experimental results confirm this issue.

Copyright © 2011 by ASME

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