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All Journal IAES International Journal of Robotics and Automation (IJRA)
Sudip C Gupta
NitteMeenakshi Institute of Technology
Automotive Engineering Electrical & Electronics Engineering

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Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded Jharna Majumdar; Sudip C Gupta; B Prassanna Prasath
IAES International Journal of Robotics and Automation (IJRA) Vol 7, No 3: September 2018
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (913.485 KB) | DOI: 10.11591/ijra.v7i3.pp185-196

Abstract

A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller - Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller - Mbed LPC1768. To verify the controllers, MATLAB-Simulink is used for the simulation of both the controllers involving motors - Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers.
Co-Authors B Prassanna Prasath Jharna Majumdar