The Impact of the Dynamic Model in Feedback Linearization Trajectory Tracking of a Mobile Robot

Authors

  • Welid Benchouche
    Affiliation

    Design and Drive of Production Systems Laboratory, Faculty of Electrical and Computing Engineering, University Mouloud Mammri of Tizi-Ouzou, P. O. B. 17 RP, 15000 Tizi-Ouzou, Algeria

  • Rabah Mellah
    Affiliation

    Design and Drive of Production Systems Laboratory, Faculty of Electrical and Computing Engineering, University Mouloud Mammri of Tizi-Ouzou, P. O. B. 17 RP, 15000 Tizi-Ouzou, Algeria

  • Mohammed Salah Bennouna
    Affiliation

    Department of Mechanical Engineering, University Kasdi Merbah Ouargla, P. O. B. 511, 30000 Ouargla, Algeria

https://doi.org/10.3311/PPee.17127

Abstract

This paper proposes the impact of the Dynamic model in Input-Output State Feedback Linearization (IO-SFL) technique for trajectory tracking of differential drive mobile robots, which has been restricted to using just the kinematics in most of the previous approaches. To simplify the control problem, this paper develops a novel control approach based on the velocity and position control strategy. To improve the results, the dynamics are taken into account. The objective of this paper is to illustrate the flaws unseen when adopting the kinematics-only controllers because the nonlinear kinematic model will suffice for control design only when the inner velocity (dynamic) loop is faster than the slower outer control loop. This is a big concern when using kinematic controllers to robots that don’t have a low-level controller, Arduino robots for example. The control approach is verified using the Lyapunov stability analysis. MATLAB/SIMULINK is carried out to determine the impact of the proposed controller for the trajectory tracking problem, from the simulation, it was discovered that the proposed controller has an excellent dynamic characteristic, simple, rapid response, stable capability for trajectory-tracking, and ignorable tracking error. A comparison between the presence and absence of the dynamic model shows the error in tracking due to dynamic system that must be taken into account if our system doesn’t come with a built-in one, thus, confirming the superiority of the proposed approach in terms of precision, with a neglectable difference in computations.

Keywords:

mobile robots, dynamic modeling, trajectory tracking, lyapunov asymptotic stability, IO-SFL

Published Online

2021-10-29

How to Cite

Benchouche, W., Mellah, R., Bennouna , M. S. “The Impact of the Dynamic Model in Feedback Linearization Trajectory Tracking of a Mobile Robot”, Periodica Polytechnica Electrical Engineering and Computer Science, 65(4), pp. 329–343, 2021. https://doi.org/10.3311/PPee.17127

Issue

Section

Articles