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學年
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114 |
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學期
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1 |
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出版（發表）日期
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2025-08-28 |
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作品名稱
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Lightweight design and precise tracking control for differential drive wheeled mobile robot |
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作品名稱（其他語言）
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著者
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Jim-Wei Wu, Chuan-An Chou, Jen-te Yu, Cheng-Chang Ho, and Jia-Cheng Li |
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單位
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出版者
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著錄名稱、卷期、頁數
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Asian Journal of Control |
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摘要
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Differential-drive wheeled mobile robot (DDWMR) offers excellent maneuverability,
making it increasingly valuable to researchers in recent years, but the
control poses major challenges due to the nonlinearity nature of the system.
This study proposes an integrated scheme consisting of a backstepping controller
and an adaptive sliding-mode controller (ASMC) to address these
challenges including the DDWMR being subject to external disturbances and
uncertainties. The presented DDWMR design is lightweight, structurally
robust, and mechanically simple with a total wight of about 10 kg. The new
control scheme can achieve accurate trajectory tracking while ensuring
dynamic stability of the DDWMR. Performance comparison of trajectory tracking
was made on the approach with that of proportional-integral-derivative
(PID) controller and sliding mode controller (SMC). Compared to a SMC
+ backstepping controller, simulation results revealed that performance
improvements in trajectory tracking reached root-mean-square errors (RMSE)
reduction by 3.7% in the X-axis, and by 23.1% in the Y-axis, respectively.
Finally, experimental results verified that the proposed controller outperformed
both traditional controllers by achieving a reduction of RMSE by 12.1%
in the X-axis and by 19.1% in the Y-axis, respectively in comparison with the
SMC + backstepping controller in a real-world application. |
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關鍵字
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accurate trajectory tracking, adaptive sliding mode controller, backstepping controller, Differential drive wheeled mobile robot, dynamic stability |
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語言
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zh_TW |
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ISSN
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期刊性質
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國內 |
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收錄於
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SCI
EI
Scopus
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產學合作
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通訊作者
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Jim-Wei Wu |
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審稿制度
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1 |
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國別
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TWN |
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公開徵稿
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出版型式
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,電子版 |