Linear Controller Design using Pole Placement Method for Nonholonomic Mobile Robot Trajectory Tracking

Indrazno Siradjuddin; Yan Watequlis Syaifudin; Totok Winarno; Erfan Rohadi; Febby Ayu Salsabilla; Supriatna Adhisuwignjo

doi:10.1109/ICVEE59738.2023.10348262

Linear Controller Design using Pole Placement Method for Nonholonomic Mobile Robot Trajectory Tracking

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Indrazno Siradjuddin, Yan Watequlis Syaifudin, Totok Winarno, Erfan Rohadi, Febby Ayu Salsabilla, Supriatna Adhisuwignjo

2023 2023 6th International Conference on Vocational Education and Electrical Engineering: Integrating Scalable Digital Connectivity, Intelligence Systems, and Green Technology for Education and Sustainable Community Development, ICVEE 2023 - Proceeding Conference paper Cited by 2

Abstract

This work proposes a stable tracking control rule for nonholonomic mobile robot. A closed-loop linearized system model is presented. The feedback controller gains (driving, lateral, and angular) are computed using the pole placement method, where the desired characteristic polynomial equation is compared with the system characteristic polynomial. The poles of the desired characteristic polynomial are located in the stable region of the complex plane. The time varying controller parameters are proposed to overcome undesired system response due to high gain in the lateral direction. The proposed method has been simulated. Satisfactory performances of the trajectory tracking have been verified from simulation results. © 2023 IEEE.

Affiliations

State Polytechnic of Malang, Electrical Engineering Department, Malang, Indonesia; State Polytechnic of Malang, Information Technology Department, Malang, Indonesia

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