García-Sánchez José Rafael, Tavera-Mosqueda Salvador, Silva-Ortigoza Ramón, Hernández-Guzmán Victor Manuel, Marciano-Melchor Magdalena, Rubio José de Jesús, Ponce-Silva Mario, Hernández-Bolaños Miguel, Martínez-Martínez Jesús
División de Ingeniería Mecatrónica, Tecnológico de Estudios Superiores de Huixquilucan, Tecnológico Nacional de México, Estado de México 52773, Mexico.
Laboratorio de Mecatrónica & Energía Renovable, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Ciudad de México 07700, Mexico.
Sensors (Basel). 2020 Sep 2;20(17):4959. doi: 10.3390/s20174959.
In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.
为了解决轮式移动机器人（WMR）中的轨迹跟踪任务，本文提出了一种动态三级控制器。该控制器考虑了机械结构、执行器和功率级子系统。这种控制器的设计如下：在高层是对WMR（差动驱动型）的动态控制；在中层是对执行器（直流电机）的PI电流控制；最后，在低层是基于微分平坦性的功率级控制（DC/DC降压功率转换器）。通过Matlab-Simulink、实时接口ControlDesk和DS1104板，在所提出的控制器的闭环可行性、鲁棒性和性能在一个DDWMR原型上得到了验证。所获得的结果通过文献中最近报道的一种分层跟踪控制器进行了实验评估，该控制器也是基于机械结构、执行器和功率级子系统设计的。尽管在考虑参数扰动时两种控制器都具有鲁棒性，但本文提出的动态三级跟踪控制器优于文献中报道的分层跟踪控制器。
