Research Papers

Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme

[+] Author and Article Information
Alberto Luviano-Juárez

Instituto Politécnico Nacional,
Av. IPN 2580,
Col. Barrio La Laguna Ticomán,
D.F. C.P. 07340, Mexico
e-mail: aluvianoj@ipn.mx

John Cortés-Romero

Department of Electrical and
Electronics Engineering,
Universidad Nacional de Colombia,
Carrera 30 No. 45-03,
Bogotá, C.P. 111321, Colombia
e-mail: jacortesr@unal.edu.co

Hebertt Sira-Ramírez

Department of Electrical Engineering,
Mechatronics Section,
Av. IPN 2580 Col. San Pedro Zacatenco,
D.F. C.P. 07360, Mexico
e-mail: hsira@cinvestav.mx

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 14, 2012; final manuscript received October 15, 2014; published online December 10, 2014. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 137(5), 051001 (May 01, 2015) (8 pages) Paper No: DS-12-1082; doi: 10.1115/1.4028872 History: Received March 14, 2012; Revised October 15, 2014; Online December 10, 2014

In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to time-varying linear controllers accomplishing the reference trajectory tracking task. The proposed controller design is crucially based on the flatness property of the system leading to controlling an asymptotically decoupled set of chains of integrators by means of a linear output feedback control scheme. The feedforward linearizing control scheme is invoked and complemented with the, so called, generalized proportional integral (GPI) control scheme. Numerical simulations, as well as laboratory experimental tests, are presented for the assessment of the proposed design methodology.

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Fig. 1

The single axis car

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Fig. 2

Simulation control inputs

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Fig. 3

Simulation trajectory tracking

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Fig. 4

Mobile robot prototype

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Fig. 5

Image acquisition device

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Fig. 6

Experimental control schematics

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Fig. 7

Experimental control inputs

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Fig. 8

Experimental trajectory tracking

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Fig. 9

Comparison of the tracking errors in the Cartesian space

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Fig. 10

Trajectory tracking behavior of the feedforward linearization and the observer based control scheme

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Fig. 11

Error index comparison of the feedforward linearization and the observer based control scheme




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