Dynamic model based motor control for wheeled mobile robots

Xiao Peng Chen*, Cheng Rong Li, Gong Yan Li, Yang Yu Luo

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)

Abstract

A novel motor control law based on dynamic model (DMMC) is proposed for wheeled mobile robot to control its two driving motors synchronously. First, kinematic model and dynamic model of the mobile robot, of which the mass center position is arbitrary, are derived, and the nonlinear differential equation of speeds and torques of the two wheels is derived. And then, system state equation of the mobile robot is derived based on the nonlinear differential equations of speeds and torques, electrical equations and electrical-mechanical equations of the two driving motors. Finally, the pole placement method is used to form a type I state feedback control law. Simulation shows that the DMMC controller can respond to the input instructions quickly without static error.

Original languageEnglish
Pages (from-to)326-332
Number of pages7
JournalJiqiren/Robot
Volume30
Issue number4
Publication statusPublished - Jul 2008

Keywords

  • Cross coupling
  • Dynamics
  • Mobile robot
  • Modeling
  • Motor control
  • Nonholonomic constraint

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