Abstract
This paper is concerned with path-tracking control of a wheeled mobile robot. This robot is equipped with two permanent magnet brushed DC-motors which are fed by two inverter-DC/DC Buck power converter systems as power amplifiers. By taking into account the dynamics of all the subsystems we present, for the first time, a formal stability proof for this control problem. Our control scheme is simple, in the sense that it is composed by four internal classical proportional-integral loops and one external classical proportional-derivative loop for path-tracking purposes. This is the third paper of a series of papers devoted to control different nonlinear systems, which proves that the proposed methodology is a rather general approach for controlling electromechanical systems when actuated by power electronic converters.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
4 articles.
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