Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot

Wheeled mobile robots (WMRs) have been widely used for navigation purposes as well as industrial applications such as path tracking and obstacle detections. Differential drive robot (DDR) is one type of WMRs with a specific wheel configuration where two fixed wheels are controlled by the motors and...

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主要作者:	Chan, Sing Yew
格式:	Thesis
语言:	English
出版:	2017
主题:	TK1-9971 Electrical engineering Electronics Nuclear engineering
在线阅读:	http://eprints.usm.my/37343/1/CHAN_SING_YEW_24_Pages.pdf
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id	my-usm-ep.37343
record_format	uketd_dc
spelling	my-usm-ep.373432019-04-12T05:25:06Z Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot 2017 Chan, Sing Yew TK1-9971 Electrical engineering. Electronics. Nuclear engineering Wheeled mobile robots (WMRs) have been widely used for navigation purposes as well as industrial applications such as path tracking and obstacle detections. Differential drive robot (DDR) is one type of WMRs with a specific wheel configuration where two fixed wheels are controlled by the motors and a castor wheel is added to mechanically support its translational and rotational movements. For tracking purposes, the controller plays a very important role to ensure it does not deviate far from the targeted locations or path. In this project, a DDR is built with two DC motors. As most motors exhibit nonlinear behavior, they are modeled as a multivariable Hammerstein-Wiener structure which contains static nonlinearities and a linear system in series with each other. The identification of the linear model is performed via time response analysis with different types of inputs, whereas the nonlinearities are estimated via several tests in MATLAB Simulink. This work also focuses on both dynamic and kinematic models of the DDR where a proportional-integral (PI) controller is designed to achieve the desired specifications in the linear region. In order to account for the nonlinear effects from the DC motor model which is mainly influenced by its bounded velocity capability, a static anti-windup compensator (AWC) is implemented which is activated when the controller output exceeds the bound. Via this strategy, a significant improvement on the tracking performance of the DDR can be observed via simulations especially when the desired path involves sharp corners or turns. 1 2017 Thesis http://eprints.usm.my/37343/ http://eprints.usm.my/37343/1/CHAN_SING_YEW_24_Pages.pdf application/pdf en public masters Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Elektrik dan Elektronik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	TK1-9971 Electrical engineering Electronics Nuclear engineering
spellingShingle	TK1-9971 Electrical engineering Electronics Nuclear engineering Chan, Sing Yew Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
description	Wheeled mobile robots (WMRs) have been widely used for navigation purposes as well as industrial applications such as path tracking and obstacle detections. Differential drive robot (DDR) is one type of WMRs with a specific wheel configuration where two fixed wheels are controlled by the motors and a castor wheel is added to mechanically support its translational and rotational movements. For tracking purposes, the controller plays a very important role to ensure it does not deviate far from the targeted locations or path. In this project, a DDR is built with two DC motors. As most motors exhibit nonlinear behavior, they are modeled as a multivariable Hammerstein-Wiener structure which contains static nonlinearities and a linear system in series with each other. The identification of the linear model is performed via time response analysis with different types of inputs, whereas the nonlinearities are estimated via several tests in MATLAB Simulink. This work also focuses on both dynamic and kinematic models of the DDR where a proportional-integral (PI) controller is designed to achieve the desired specifications in the linear region. In order to account for the nonlinear effects from the DC motor model which is mainly influenced by its bounded velocity capability, a static anti-windup compensator (AWC) is implemented which is activated when the controller output exceeds the bound. Via this strategy, a significant improvement on the tracking performance of the DDR can be observed via simulations especially when the desired path involves sharp corners or turns. 1
format	Thesis
qualification_level	Master's degree
author	Chan, Sing Yew
author_facet	Chan, Sing Yew
author_sort	Chan, Sing Yew
title	Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
title_short	Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
title_full	Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
title_fullStr	Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
title_full_unstemmed	Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot
title_sort	anti-windup compensator design for improved tracking performance of differential drive mobile robot
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Elektrik dan Elektronik
publishDate	2017
url	http://eprints.usm.my/37343/1/CHAN_SING_YEW_24_Pages.pdf
_version_	1747820661447852032

Anti-Windup Compensator Design For Improved Tracking Performance Of Differential Drive Mobile Robot

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