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Comparison of various controller design for the speed control of DC motors used in two wheeled mobile robots

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Abstract

This work describes the study of modeling and controller on wheeled mobile robots designed the motors which is driving the wheels. According to the structure and design of wheeled mobile robot, DC motors are the best suited for the motion control. The kinematical model is required for the designing process of the wheels in the WMR. The analysis of the mathematical model is divided into angle and velocity of the dc motor build in wheeled mobile robot because of the importance of motor parameters for stability. The main focus of the work is to develop an efficient controller to control the speed of the dc motor applied in the wheels of the robot. PID tuning has been implemented in designing of the controller for the speed control of dc motor. The open loop and closed loop performance of a two wheeled mobile robot with PID and LQR controllers are obtained and compared by using MATLAB programs and simulations.

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Correspondence to Huma Khan.

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Khan, H., Khatoon, S. & Gaur, P. Comparison of various controller design for the speed control of DC motors used in two wheeled mobile robots. Int. j. inf. tecnol. 13, 713–720 (2021). https://doi.org/10.1007/s41870-020-00577-8

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  • DOI: https://doi.org/10.1007/s41870-020-00577-8

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