Optimal trajectory tracking control for a wheeled mobile robot using backstepping technique

This work studies an optimal trajectory tracking of a wheeled mobile robot with the objective of minimizing energy consumption. First, the mathematical model, which takes into account the kinematic model of the mobile robot and the dynamic model of the actuators is presented. Then, a backstepping controller is designed and its parameters are tuned to satisfy several strict criteria such as rapid convergence, matching desired trajectory, and minimizing energy. For that, two cost functions were investigated and the best one has been selected. The significant reduction in energy losses achieved for all the proposed motion scenarios proves the effectiveness of our approach

Energy Estimation Based on Path Tracking for a Differential Drive Wheeled Mobile Robot

To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption

Maximum Power Extraction of Solar PV system using DC-DC Buck converter and backstepping control based on P&O MPPT algorithm

This paper presents the system allowing the extraction of maximum power from a sun based on solar photovoltaic module and backstepping control based on a P&O MPPT algorithm for a DC-DC buck converter. The aim of this research work is to determinate quickly the optimal PV Module working point which allowed to extract the maximum power. This work, based on a usage of a DC-DC buck converter to control the working point by adjusting PV voltage trough a duty cycle. In order to achieve our goal, we used the combination of perturb and observe (P&O) algorithm and DC-DC buck converter with backstepping control. This model was implemented in Matlab/Simulink software, the results of simulation prove its effectiveness in term of maximum power tracking dynamics for different irradiance and temperature profiles