Academic Journal
Development of an Adaptive Trajectory Tracking Control of Wheeled Mobile Robot ; Desarrollo de un control adaptivo para el seguimiento de trayectoria de un robot móvil con ruedas
| العنوان: | Development of an Adaptive Trajectory Tracking Control of Wheeled Mobile Robot ; Desarrollo de un control adaptivo para el seguimiento de trayectoria de un robot móvil con ruedas |
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| المؤلفون: | Suarez-Rivera, Guiovanny, Muñoz-Ceballos, Nelson David, Vásquez-Carvajal, Henry Mauricio |
| المصدر: | Revista Facultad de Ingeniería; Vol. 30 No. 55 (2021): January-March 2021 (Continuous Publication); e12022 ; Revista Facultad de Ingeniería; Vol. 30 Núm. 55 (2021): Enero-Marzo 2021 (Publicación Continua); e12022 ; 2357-5328 ; 0121-1129 |
| بيانات النشر: | Universidad Pedagógica y Tecnológica de Colombia |
| سنة النشر: | 2024 |
| المجموعة: | Repositorio UPTC (Universidad Pedagógicay y Tecnológica de Colombia) |
| مصطلحات موضوعية: | telerobotics, Lyapunov stability, Matlab, mobile robots, parametric model, simulation, estabilidad de Lyapunov, modelo paramétrico, robots móviles, simulación, telerobótica |
| الوصف: | Classical modeling and control methods applied to differential locomotion mobile robots generate mathematical equations that approximate the dynamics of the system and work relatively well when the system is linear in a specific range. However, they may have low accuracy when there are many variations of the dynamics over time or disturbances occur. To solve this problem, we used a recursive least squares (RLS) method that uses a discrete-time structure first-order autoregressive model with exogenous variable (ARX). We design and modify PID adaptive self-adjusting controllers in phase margin and pole allocation. The main contribution of this methodology is that it allows the permanent and online update of the robot model and the parameters of the adaptive self-adjusting PID controllers. In addition, a Lyapunov stability analysis technique was implemented for path and trajectory tracking control, this makes the errors generated in the positioning and orientation of the robot when performing a given task tend asymptotically to zero. The performance of the PID adaptive self-adjusting controllers is measured through the implementation of the criteria of the integral of the error, which allows to determine the controller of best performance, being in this case, the PID adaptive self-adjusting type in pole assignment, allowing the mobile robot greater precision in tracking the trajectories and paths assigned, as well as less mechanical and energy wear, due to its smooth and precise movements. ; Los métodos clásicos de modelamiento y control aplicados a robots móviles de locomoción diferencial generan ecuaciones matemáticas que representan con aproximación la dinámica del sistema y funcionan relativamente bien cuando el sistema es lineal en un rango específico de trabajo. Sin embargo, pueden presentar baja precisión cuando hay muchas variaciones de la dinámica en el tiempo o se presentan perturbaciones. Para solucionar este problema se empleó un método recursivo de mínimos cuadrados (RLS) que usa una estructura en ... |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | application/pdf; application/xml |
| اللغة: | English Spanish; Castilian |
| Relation: | https://revistas.uptc.edu.co/index.php/ingenieria/article/view/12022/10239; https://revistas.uptc.edu.co/index.php/ingenieria/article/view/12022/10240; https://revistas.uptc.edu.co/index.php/ingenieria/article/view/12022/10787; https://revistas.uptc.edu.co/index.php/ingenieria/article/view/12022; https://repositorio.uptc.edu.co/handle/001/14297 |
| DOI: | 10.19053/01211129.v30.n55.2021.12022 |
| الاتاحة: | https://repositorio.uptc.edu.co/handle/001/14297 https://revistas.uptc.edu.co/index.php/ingenieria/article/view/12022 https://doi.org/10.19053/01211129.v30.n55.2021.12022 |
| Rights: | Copyright (c) 2021 Guiovanny Suarez-Rivera, Nelson David Muñoz-Ceballos, M.Sc., Henry Mauricio Vásquez-Carvajal, M.Sc. |
| رقم الانضمام: | edsbas.9E4CD1C9 |
| قاعدة البيانات: | BASE |
| DOI: | 10.19053/01211129.v30.n55.2021.12022 |
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