Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Modelling and control of a wheeled mobile robot
Submission Author:
Allan Oliveira , SP
Co-Authors:
Magno Enrique Mendoza Meza, DIEGO PAOLO FERRUZZO CORREA, Allan Oliveira
Presenter: Allan Oliveira
doi://10.26678/ABCM.COBEM2017.COB17-5805
Abstract
This paper proposes the representation of the dynamic model of a wheeled mobile robot (WMR), considering the center of mass and the center of rotation separated by a distance 'a'. This system has three degrees of freedom, presents nonholonomic restrictions, two motorized wheels and a free wheel which ensures its stability. The dynamic model of RMR was performed through the Euler-Lagrange formalism and model obtained in this work will be used in the design of a control strategy to follow trajectory. Designed controllers were based on the PID and Backstepping technique, being that the second one presented settling time shorter than first one.
Keywords
Backstepping control, PID controller, Wheeled Mobile Robot
