A Robot Trajectory Tracking Control System Design Using Pole Domination Approach

A trajectory tracking control system (TTCS) design of two-wheeled robot (TWR) based on a pole domination approach is presented. The TTCS is a state feedback control system to make a TWR asymptotically stable track a reference trajectory. The state feedback control is designed based on a trajectory tracking error dynamics model. The model is a third order linear system that is derived based on the TWR kinematics. Analysis of the closed loop control system results in a simple-structure control gain matrix. The control gain matrix can be adjusted such that the closed loop system response is dominated by one of the three system poles. This one-pole domination may reduce overshoot in the system response and becomes an advantage of the TTCS. Performance of the designed TTCS based on the one-pole domination is demonstrated through computer simulations. The simulation results show that the designed system is able to make the TWR track a desired trajectory with less overshoot. This approach provides a simple method in designing TTCS of a robot with less overshoot. Moreover, the control gain matrix with simple structure makes hardware implementation to be easily done.