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Motion tracker based wheeled mobile robot system identification and controller design

This project deals with the mathematical modelling and controller design for autonomous Wheeled Mobile Robot (WMR) by using motion tracking system. The mobile robot vehicle has two driving wheels and the angular speed of the two wheels is the controlled variable. Three reflected markers are attached...

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Main Authors: Pebrianti, Dwi, Hao, Yong Hooi, Nur Aisyah Syafinaz, Suarin, Bayuaji, Luhur, Zulkifli, Musa, Mohammad, Syafrullah, Indra, Riyanto
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
QA75 Electronic computers. Computer science
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/21757/1/book56%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf
http://umpir.ump.edu.my/id/eprint/21757/2/book56.1%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf
http://umpir.ump.edu.my/id/eprint/21757/
https://doi.org/10.1007/978-981-10-8788-2_23
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spelling my.ump.umpir.217572018-08-06T03:55:58Z http://umpir.ump.edu.my/id/eprint/21757/ Motion tracker based wheeled mobile robot system identification and controller design Pebrianti, Dwi Hao, Yong Hooi Nur Aisyah Syafinaz, Suarin Bayuaji, Luhur Zulkifli, Musa Mohammad, Syafrullah Indra, Riyanto QA75 Electronic computers. Computer science TK Electrical engineering. Electronics Nuclear engineering This project deals with the mathematical modelling and controller design for autonomous Wheeled Mobile Robot (WMR) by using motion tracking system. The mobile robot vehicle has two driving wheels and the angular speed of the two wheels is the controlled variable. Three reflected markers are attached on a robot to form a 3D rigid body. Motion tracker will track the 3D rigid body in terms of x, y position and orientation θ. Mathematical modelling which is a set of Multi Input Single Output model is done by using System Identification Toolbox in Matlab. Three different controller namely Proportional (P), Proportional Differential (PD) and Proportional Integral Differential (PID) controller are designed for this WMR. The mathematical model obtained from the System Identification has about 95% accuracy. In controller performance, the result shows that P, PD and PID controller have no overshoot for the forward movement. However, the percent overshoot of P, PD and PID controller when the robot is turning on side direction are around 51%, 63% and 48%, respectively. Additionally, the steady state error for all controllers is 0%. Springer Singapore 2018-04-28 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21757/1/book56%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf pdf en http://umpir.ump.edu.my/id/eprint/21757/2/book56.1%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf Pebrianti, Dwi and Hao, Yong Hooi and Nur Aisyah Syafinaz, Suarin and Bayuaji, Luhur and Zulkifli, Musa and Mohammad, Syafrullah and Indra, Riyanto (2018) Motion tracker based wheeled mobile robot system identification and controller design. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 241-258. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_23 DOI: 10.1007/978-981-10-8788-2_23
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic QA75 Electronic computers. Computer science
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle QA75 Electronic computers. Computer science
TK Electrical engineering. Electronics Nuclear engineering
Pebrianti, Dwi
Hao, Yong Hooi
Nur Aisyah Syafinaz, Suarin
Bayuaji, Luhur
Zulkifli, Musa
Mohammad, Syafrullah
Indra, Riyanto
Motion tracker based wheeled mobile robot system identification and controller design
description This project deals with the mathematical modelling and controller design for autonomous Wheeled Mobile Robot (WMR) by using motion tracking system. The mobile robot vehicle has two driving wheels and the angular speed of the two wheels is the controlled variable. Three reflected markers are attached on a robot to form a 3D rigid body. Motion tracker will track the 3D rigid body in terms of x, y position and orientation θ. Mathematical modelling which is a set of Multi Input Single Output model is done by using System Identification Toolbox in Matlab. Three different controller namely Proportional (P), Proportional Differential (PD) and Proportional Integral Differential (PID) controller are designed for this WMR. The mathematical model obtained from the System Identification has about 95% accuracy. In controller performance, the result shows that P, PD and PID controller have no overshoot for the forward movement. However, the percent overshoot of P, PD and PID controller when the robot is turning on side direction are around 51%, 63% and 48%, respectively. Additionally, the steady state error for all controllers is 0%.
format Book Section
author Pebrianti, Dwi
Hao, Yong Hooi
Nur Aisyah Syafinaz, Suarin
Bayuaji, Luhur
Zulkifli, Musa
Mohammad, Syafrullah
Indra, Riyanto
author_facet Pebrianti, Dwi
Hao, Yong Hooi
Nur Aisyah Syafinaz, Suarin
Bayuaji, Luhur
Zulkifli, Musa
Mohammad, Syafrullah
Indra, Riyanto
author_sort Pebrianti, Dwi
title Motion tracker based wheeled mobile robot system identification and controller design
title_short Motion tracker based wheeled mobile robot system identification and controller design
title_full Motion tracker based wheeled mobile robot system identification and controller design
title_fullStr Motion tracker based wheeled mobile robot system identification and controller design
title_full_unstemmed Motion tracker based wheeled mobile robot system identification and controller design
title_sort motion tracker based wheeled mobile robot system identification and controller design
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/21757/1/book56%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf
http://umpir.ump.edu.my/id/eprint/21757/2/book56.1%20Motion%20tracker%20based%20wheeled%20mobile%20robot%20system%20identification%20and%20controller%20design.pdf
http://umpir.ump.edu.my/id/eprint/21757/
https://doi.org/10.1007/978-981-10-8788-2_23
_version_ 1643669207501504512
score 13.211869

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