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Ton Duc Thang University (TDTU) is a public university with the main campus located in vibrant Ho Chi Minh City, Vietnam’s economic and educational hub. Founded in 1997, TDTU has developed into one of the largest and fastest growing universities in Vietnam with more than 22,000 students, enrolled in undergraduate and graduate programs ranging from science, engineering to business management, law, and humanities. To foster the country’s human resources and best serve the nation in the knowledge based economy of the 21st century, TDTU is combining vocational training with high-level research. The establishment of JAEC is one of TDTU’s efforts in this direction. More

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  • Vol 7, No 2 (2023)
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Development of Decentralized Speed Controllers for a Differential Drive Wheel Mobile Robot

Tri-Vien Vu, Anh-Minh Duc Tran, Bao-Hieu Nguyen, Hoa-Vinh Vu Tran

Abstract


This research presents a comprehensive mathematical model and a control-oriented model for a differential drive wheel mobile robot (DDWMR). The components and their interconnection within the robot are thoroughly modeled. The proposed mathematical models are used to analyze the characteristics of the robot. The control-oriented model is a simplified one which will be used to design speed controllers. The performance of the proposed system is evaluated through four case studies, focusing on both stand-alone motor systems and the entire DDWMR. The tracking performance is evaluated using metrics such as absolute error integration and root mean square error. Simulation results show that under ideal step command, the pole-zero cancellation PI speed controller achieves the best tracking performance, while PID controllers obtained from Matlab’s Auto-tuning App perform best for standalone motor systems. For motors in a DDWMR, the PID controller with parameters derived from the Ziegler-Nichols tuning rules provides optimal tracking performance. These simulation results show that there is no universal controller that can achieve the best performance in all situations; rather, each controller is suited to specific circumstances. Nonetheless, in all case studies, better motor speed tracking leads to improved trajectory tracking performance for the robot.

Creative Commons License

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium provided the original work is properly cited.



Keywords


Decentralized, Wheel Mobile Robot, Control-Oriented, Speed Control, PID.

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DOI: http://dx.doi.org/10.55579/jaec.202372.399

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Copyright (c) 2023 Journal of Advanced Engineering and Computation

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Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.