Motion tracker based wheeled mobile robot system identification and controller design

Pebrianti, Dwi and Hao, Yong Hooi and Nur Aisyah Syafinaz, Suarin and Bayuaji, Luhur and Zulkifli, Musa and Mohammad, Syafrullah and Indra, Riyanto (2018) Motion tracker based wheeled mobile robot system identification and controller design. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 241-258. ISBN 9789811087875

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Abstract

This project deals with the mathematical modelling and controller design for autonomous Wheeled Mobile Robot (WMR) by using motion tracking system. The mobile robot vehicle has two driving wheels and the angular speed of the two wheels is the controlled variable. Three reflected markers are attached on a robot to form a 3D rigid body. Motion tracker will track the 3D rigid body in terms of x, y position and orientation θ. Mathematical modelling which is a set of Multi Input Single Output model is done by using System Identification Toolbox in Matlab. Three different controller namely Proportional (P), Proportional Differential (PD) and Proportional Integral Differential (PID) controller are designed for this WMR. The mathematical model obtained from the System Identification has about 95% accuracy. In controller performance, the result shows that P, PD and PID controller have no overshoot for the forward movement. However, the percent overshoot of P, PD and PID controller when the robot is turning on side direction are around 51%, 63% and 48%, respectively. Additionally, the steady state error for all controllers is 0%.

Item Type:	Book Chapter
Additional Information:	Index by Scopus
Uncontrolled Keywords:	PID controller; Wheel mobile robot; Motion tracker; Mathematical modelling
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering Faculty of Computer System And Software Engineering
Depositing User:	Pn. Hazlinda Abd Rahman
Date Deposited:	06 Aug 2018 02:30
Last Modified:	06 Aug 2018 03:55
URI:	http://umpir.ump.edu.my/id/eprint/21757
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