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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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21757/ http://umpir.ump.edu.my/id/eprint/21757/ http://umpir.ump.edu.my/id/eprint/21757/ 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 |
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ump-21757 |
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eprints |
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ump-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 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
Universiti Malaysia Pahang |
| building |
UMP Institutional Repository |
| collection |
Online Access |
| 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/ http://umpir.ump.edu.my/id/eprint/21757/ http://umpir.ump.edu.my/id/eprint/21757/ 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 |
| first_indexed |
2023-09-18T22:32:03Z |
| last_indexed |
2023-09-18T22:32:03Z |
| _version_ |
1777416351465340928 |