Técnicas de identificação, controle e predição aplicadas a robôs de acionamento diferencial

Abstract

This work presents the identification, decoupling, control and prediction of a mobile robot withtwodifferentialdrivewheels. Tothisend, thevariablesubstitutionmethodology was employed in the robot’s mathematical model, with its position variables, represented on the Cartesian plane, being replaced by your linear displacement. As the model becomes essentially linear, without the use of linearization techniques, classical decoupling and control approaches could be used, as well as the use of predictors. Real experiments werecarried out to collect data to identify the model and the least squares method was used for different structures considering the order and the delay time. Using the information criterion, model validation methods and real experiments of robot reaction, it was possible to choose a model that best represented it. The decoupling of the robot system was implemented to reduce the unwanted cross-relation between inputs and outputs in the model. It was also proposed the use of the Smith Predictor to minimize the difference, caused by the existence of time delay, between the predicted behavior and the real behavior of the controlled system. Simulated and real experiments for different PID family controllers were carried out, as well as the realization of experiments for tracking different trajectories to validate the model’s performance.