Controlling a mobile manipulator actuated by DC motors and a single phase H-bridge inverter
by Amal Karray; Moez Feki
International Journal of Modelling, Identification and Control (IJMIC), Vol. 28, No. 2, 2017

Abstract: In this paper, we treat the dynamic feedback control of a mobile manipulator actuated by DC motors using a digital pulse width modulation (DPWM) and a single phase H-bridge inverter in order to achieve a desired trajectory. Firstly, a fuzzy proportional-derivative (PD) controller is proposed to provide the necessary torques for the motion of the robot and to eliminate the effect of external force on the end-effector. Secondly, we aim to determine the current signal needed to drive the DC motors using an H-bridge inverter. Simulation results are given to show the effectiveness of the proposed controller and to demonstrate the coordination of two subsystems in performing the desired trajectory.

Online publication date: Fri, 18-Aug-2017

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