Evolution of Parameters of Nonlinear Position Control for Dynamic Model of Mobile Robot with Friction
| Authors: | Lacevic Bakir, Faculty of Electrical Engineering, Bosnia and Herzegowina
Velagic Jasmin, Faculty of Electrical Engineering, Bosnia and Herzegowina
Hebibovic Mujo, Faculty of Electrical Engineering, Bosnia and Herzegowina |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Control I |
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| Keywords: | mobile robot dynamics, position control, backstepping, genetic algorithm, friction |
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Abstract
In this paper, we propose two level control system for a mobile robot. The first level subsystem deals with the control of the linear and angular volocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot represents the second level control, which is nonlinear. The nonlinear control design is implemented by a modified backstepping algorithm whose parameters are adjusted by a genetic algorithm, which is a robust nonlinear optimization method. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. We present a new dynamic model in which the angular velocities of wheels are main variables. Simulation results show the good quality of position tracking capabilities a mobile robot with the various viscous friction torques.
