Reference Tracking of a Nonholonomic Mobile Robot using Sensor Fusion Techniques and Linear Control

This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2018, Vol.51 (4), p.364-369
Main Authors: Forte, Marcus D.N., Correia, Wilkley B., Nogueira, Fabrício G., Torrico, Bismark C.
Format: Article
Language:English
Subjects:
Inertial measurement units
Linear control systems
Mobile robots
Robot kinematics
Sensor fusion
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Summary:This paper presents the control design of a nonholonomic mobile robot with differential drive using control strategies on a linearized space state error model. In this case, a diagonal multi-variable model is obtained for which a decentralized PI controller may be designed. In this paper, PI tuning is performed through a LQR problem whose feedback gains are set as the proportional gain of the PI controller. The use of an Inertial Measuring Unit (IMU) allows for a precise posture feedback by using a Kalman Filter on the output of the sensors. For such purpose, a Sensor Fusion technique is also needed in order to combine multiple sensor output so that physical limitations of each sensor may be compensated.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2018.06.092