Solving Tracking And Regulation Of A Mobile Robot

Mohd Fekri , Ab Halim (2009) Solving Tracking And Regulation Of A Mobile Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project is to develop a stable controller that can solve both tracking and regulation of a mobile robot by using kinematics mathematical model. For tracking trajectory the linear and angular velocities are not converging to zero and maintain at constant speed, while for regulation trajectory linear and angular velocities are converging to zero. To solve this problem a single controller will be developed to solve both trajectory problems. This project starts by studying on tracking and regulation problem, then proceed by deriving the mathematical model for the controller. This project continues by transforming the mathematical model into MA TLAB/SIMULINK to become a controller. Then start simulated and compare with the actual result with desired output response. The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique. With the proposed control laws, the robot can globally follow any path specified by a straight line, a circle or a path approaching the origin using a single controller. As demonstrated, the circular and parallel parking control problem is solved usmg the proposed controller. Computer simulations are presented usmg MA TLAB/SIMULINK.

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