Title: A novel control structure for a pioneer mobile robot: simulation and practical implementation

Authors: Jean Marie Lauhic Ndong Mezui; Donatien Nganga-Kouya; Aime Francis Okou; Maarouf Saad; Brice Hernandez

Addresses: Mechanical Engineering Department, École normale supérieure de l'enseignement technique, Leon Mba Boulevard, Libreville, BP 3989, Gabon ' Mechanical Engineering Department, École normale supérieure de l'enseignement technique, Leon Mba Boulevard, Libreville, BP 3989, Gabon ' Department of Electrical and Computer Engineering, Royal Military College of Canada, 13 General Crerar Crescent, Kingston, Ontario, K7K 7B4, Canada ' Department of Electrical Engineering, École de technologie supérieure, 1100 Notre-Dame St W, Montreal, Quebec, H3C 1K3, Canada ' Department of Electrical Engineering, École de technologie supérieure, 1100 Notre-Dame St W, Montreal, Quebec, H3C 1K3, Canada

Abstract: This paper presents a new control structure for a non-holonomic robot. It consists of two controllers in series: a nonlinear trajectory tracking controller based on robot kinematics and a multivariable quasi-linear controller based on robot dynamics. The Lyapunov theory is used to obtain the nonlinear control law and a frequency domain design approach is employed to find the transfer functions of the quasi-linear controller. The stability and sensitivity analysis criteria are considered to increase the performance of the robot. The stabilisation time and overshoot are considerably reduced. The proposed controller is simple and insensitive to external disturbances. Simulation and real-time test results are used to evaluate the effectiveness of this new control structure.

Keywords: mobile robot; non-holonomic; stability; sensitivity; robustness; transmission; trajectory tracking; quasi-linear controller.

DOI: 10.1504/IJMIC.2019.104383

International Journal of Modelling, Identification and Control, 2019 Vol.33 No.2, pp.108 - 119

Available online: 27 Dec 2019 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article