Motion Control for Caterpillar Vehicles Using a MIMO Robust Servo Controller

摘要

This paper proposes a MIMO robust servo controller design for Mobile Robots as Caterpillar Vehicles with an external disturbance to track desired linear displacement and orientation references using a linear shift invariant differential (LSID) operator. To do this tasks, the followings are done. Firstly, MIMO modeling of the Caterpillar Vehicle is presented. Secondly, by operating the LSID operator to the state space model and the output error vector, a new extended system and a new control law are obtained. Thirdly, a proposed MIMO robust servo controller for the given the Caterpillar Vehicle is designed by using the pole assignment approach. Fourthly, by applying the inverse LSID operator, a servo compensator and a control law for the MIMO system are obtained. Finally, in order to verify the effectiveness of the proposed MIMO robust servo controller, the simulation results are shown. The simulation results show the good tracking performance of the proposed MIMO robust servo controller under as a step type of external disturbance and step types of linear displacement and angular reference signals. This simulation results of the proposed MIMO robust servo controller are compared with the adaptive backstepping control method proposed by P.S. Pratama in 2013. The proposed MIMO robust servo controller shows the faster and better tracking performance than the that adaptive backstepping control method.