Title: Identification and development of a real-time motion control for a mobile robot's DC gear motor

Authors: Noura Ayadi; Manel Turki; Rania Ghribi; Nabil Derbel

Addresses: Electrical Engineering Department, National School of Engineers of Sfax, B.P: w.3038, Sfax, Tunisia ' Electrical Engineering Department, National School of Engineers of Sfax, B.P: w.3038, Sfax, Tunisia ' Electrical Engineering Department, National School of Engineers of Sfax, B.P: w.3038, Sfax, Tunisia ' Electrical Engineering Department, National School of Engineers of Sfax, B.P: w.3038, Sfax, Tunisia

Abstract: This paper proposes a real-time motion control of a wheeled mobile robot. An effective Proportional-Integral-Derivative (PID) controller has been synthesised for the robot's speed. In the process, owing to the shortage in the chosen gear motor characteristics, we need to model the robot's gear motor. Most of identification and computation techniques presented in this research use intelligent tools in order to obtain best desired performances of the closed loop system. The proposed technique consists of comparing between presented methods in order to get the best system's response. We apply sets of techniques and experiments to test the speed response of the gear motor using a Digital Signal Processor (DSP) of Texas Instruments integrated in a digital development tool.

Keywords: DC gear motors; digital signal procesing; DSP; PID control; controller design; speed control; modelling; identification; motion control; robot control; mobile robots; robot motors; wheeled robots; robot speed.

DOI: 10.1504/IJCAT.2017.082266

International Journal of Computer Applications in Technology, 2017 Vol.55 No.1, pp.61 - 69

Received: 25 May 2015
Accepted: 10 Dec 2015

Published online: 14 Feb 2017 *

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