Controle embarcado em robôs com acionamento diferencial e encoders de baixa resolução

Abstract

This work presents a proposal and tests in practice a speed observer and controller for DC motors equipped with low-resolution encoders. The target application of this work are mini robots with differential drive. The system was implemented in the microcontroller (ESP32). It demonstrated, by experimental results, to be able to control the speed of the motor-wheel pairs of differential drive robots (with low-precision rotary encoders) to reduce their asymmetries. A control scheme with two control strategies, of the type Feedforward / Backward, was used, with the Kalman filter as the speed estimator to reduce the sensors quantization error.