Experimental observer-based delayed control of wheeled mobile robots

IF 4.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Applied Mathematical Modelling Pub Date : 2025-02-21 DOI:10.1016/j.apm.2025.116038

Jesús Abraham Rodríguez-Arellano , Roger Miranda-Colorado , Raúl Villafuerte-Segura , Luis T. Aguilar

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引用次数: 0

Abstract

Wheeled mobile robots are essential mechatronic systems that have attracted attention in different applications in industry and for research. One essential task commanded to a wheeled mobile robot is following a desired reference signal. However, in practical situations, wheeled mobile robots are always affected by disturbances diminishing the closed-loop performance. Hence, this manuscript develops a novel robust control scheme that allows accomplishing a trajectory-tracking task including disturbances. A disturbance observer is designed to compensate for disturbances in the proposed methodology. Also, the delay theory is used to design a proportional-retarded controller that makes the wheeled mobile robot's position and orientation signals converge to their desired references asymptotically. A theoretical development proves the effectiveness of the new scheme. The novel methodology is compared against other robust control methodologies from the literature. Various experiments on a scaled vehicle demonstrate that the novel controller outperforms the other robust controllers, thus representing a viable choice for controlling wheeled mobile robots.

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来源期刊

Applied Mathematical Modelling 数学-工程：综合

CiteScore

9.80

自引率

8.00%

发文量

508

审稿时长

43 days

期刊介绍： Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.