Title: Controlling a mobile manipulator actuated by DC motors and a single phase H-bridge inverter

Authors: Amal Karray; Moez Feki

Addresses: Energy Management Laboratory (CEMLab), Sfax Engineering School, University of Sfax, BP 1073, 3038 Sfax, Tunisia ' Laboratoire de Mathématiques: Modélisation Déterministe et Aléatoire, ESSTHS – University of Sousse, Tunisia

Abstract: In this paper, we treat the dynamic feedback control of a mobile manipulator actuated by DC motors using a digital pulse width modulation (DPWM) and a single phase H-bridge inverter in order to achieve a desired trajectory. Firstly, a fuzzy proportional-derivative (PD) controller is proposed to provide the necessary torques for the motion of the robot and to eliminate the effect of external force on the end-effector. Secondly, we aim to determine the current signal needed to drive the DC motors using an H-bridge inverter. Simulation results are given to show the effectiveness of the proposed controller and to demonstrate the coordination of two subsystems in performing the desired trajectory.

Keywords: non-holonomic mobile robots; DC motors; H-bridge inverter; fuzzy control; desired trajectory tracking.

DOI: 10.1504/IJMIC.2017.085945

International Journal of Modelling, Identification and Control, 2017 Vol.28 No.2, pp.125 - 134

Received: 23 Feb 2016
Accepted: 08 Oct 2016
Published online: 18 Aug 2017 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article