Hernández-Guzmán VM, Silva-Ortigoza R, Tavera-Mosqueda S, Marcelino-Aranda M, Marciano-Melchor M. Path-Tracking of a WMR Fed by Inverter-DC/DC Buck Power Electronic Converter Systems.
SENSORS (BASEL, SWITZERLAND) 2020;
20:E6522. [PMID:
33203072 PMCID:
PMC7696175 DOI:
10.3390/s20226522]
[Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/12/2020] [Revised: 11/08/2020] [Accepted: 11/11/2020] [Indexed: 11/16/2022]
Abstract
This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.
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