IAES International Journal of Robotics and Automation (IJRA)
Vol 7, No 3: September 2018

Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

Jharna Majumdar (NitteMeenakshi Institute of Technology)
Sudip C Gupta (NitteMeenakshi Institute of Technology)
B Prassanna Prasath (NitteMeenakshi Institute of Technology)

Article Info

Publish Date
01 Sep 2018

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.

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Journal Info
IAES International Journal of Robotics and Automation (IJRA)
Website

Abbrev

IJRA

Publisher

Institute of Advanced Engineering and Science

Subject

Automotive Engineering Electrical & Electronics Engineering

Description

Robots are becoming part of people's everyday social lives and will increasingly become so. In future years, robots may become caretaker assistants for the elderly, or academic tutors for our children, or medical assistants, day care assistants, or psychological counselors. Robots may become our ...