Professional Documents
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Of Mobile Robot
AZAZA Awatef BEN HAMED Mouna
Research Unit of Photovoltaic, Research Unit of Photovoltaic,
Wind and Geothermal Systems, Wind and Geothermal Systems,
National Engineer School of Gabès, National Engineer School of Gabès,
University of Gabès, University of Gabès,
Rue Omar Ibn Elkhattab, Rue Omar Ibn Elkhattab,
Zrig, Gabès, 6029, Tunisia Zrig, Gabès, 6029, Tunisia
Email: atoufaazaza@hotmail.fr Email: benhamed2209@yahoo.fr
Abstract—This paper presents a dynamic modeling and control robust control method, inverse dynamics control and other
studies of mobile robot. The robot is mainly built all around methods.Then, the adaptive control may have some advan-
three wheels and platform. A mathematical model of unicycle tages. For instance the hugeness of calculation capability and
mobile robot is determined by kinematic and dynamic model.
The dynamic modelling equations are based on lagrangian its complication. But the robust control can make the system
formulation. The motion control strategy is based on the inverse unstable [14] and [15]. This paper discussed the dynamic
of dynamic control. This leads to accurate tracking of trajectory. model in the form of a second-order vector differential equa-
The goal to reach in this paper is to improve the performances tion. The dynamics model is based on the Lagrange formula
of inverse dynamic control of mobile robot. The validity of the because it can easily be applied. But the control strategies
proposed controller is demonstrated by the simulation of two
wheels mobile robots case. using the inverse dynamics control can avoid the nonlinear
Keywords: modeling dynamic, inverse dynamic control, system, decoupling and the realization of tracking trajectory
mobile robot. of the system[3].
Where mt is the total vehicle mass, md is the mass of the IV. SIMULATION RESULT
platform without actuators, mr is the mass of the wheel with In order to demonstrate the performance of the inverse
actuators, Id is the moment of inertia of the platform about dynamics controller from the simulation results in matlab
the vertical axis through the center of mass, Iw is the moment simulink we suppose the desired trajectories of the wheels
of inertia of wheel with a motor about the wheel axis and positions are opted to be q1 = sin(θ)×t2 (rad) and q2 =
Im is the moment of inertia of wheel with a motor about the cos(θ)×exp(− t) (rad).
wheel diameter [1]. A numerical simulation was made out on a model of unicycle
The matrix form of the system can be expressed as: mobile robot. [ ]
18 0
H(q)q̈ + K(q̇, q)q̇ = τ (q) (37) K0 = (47)
0 18
And [ ]
23 0
K1 = (48)
0 23
The figures Fig. 3 - 6 show that the real trajectory of position
and speed of the robot is following the desired trajectory
perfectly.The figures Fig. 8-9 shows the actual trajectory of
position of the left and the right wheel of the unicycle in the
presence of external disturbances of the model dynamic F1 =
sin(−100 × t) × t5 (rad) and F2 = 105 × cos(t) × t2 (rad) that
not could track the reference trajectory very accurately and
perfectly.This explains that The controller based on inverse
dynamic has not good performances and not robustness when
the modeling dynamic of mobile robot including a disturbance
vector.
The mobile robot parameters are given by table I
Fig. 4. Trajectory of position of right wheel.
TABLE I
TABLE OF MOBILE ROBOT PARAMETRS