NONLINEAR INTERCONNECTED CONTROL OF ELECTRIC DRIVES OF FOUR-WHEEL MOBILE ROBOT
The task of constructing an interconnected control system for the electric drive subsystem of a four-wheel mobile robot with two differential drive units when moving along a given program path is considered. During the synthesis of the control system, the asymmetry of the location of the rotary blocks was taken into account. The scalable structure of the resulting control system allows to control the trajectory movement and contour speed of mobile robots with more than two differential rotary blocks. The modular structure of the control system expands the scope of application by replacing individual regulators in the control loops and controlling electric motors of any type. At the end of the article, the results of numerical experiments on the mathematical model of the wheeled robot under study are given.
Authors: E. O. Meshkovskiy, V. Ya. Frolov, A. D. Kurmashev
Direction: Informatics, Computer Technologies And Control
Keywords: Wheel robot, differential drive unit, DC motor, interconnected control, non-linear regulation, contour movement
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