Linear and Non-Linear Control Design of Skid Steer Mobile Robot on an Embedded

Jharna Majumdar, Sudip C Gupta, B Prassanna Prasath


A detailed approach for a linear Proportional-Integral-Derivative (PID) controller and a non-linear controller - Linear Quadratic Regulator (LQR) is discussed in this paper. By analyzing several mathematical designs for the Skid Steer Mobile Robot (SSMR), the controllers are implemented in an embedded microcontroller - Mbed LPC1768. To verify the controllers, MATLAB-Simulink is used for the simulation of both the controllers involving motors - Maxon RE40. This paper compares between PID and LQR controller along with the performance comparison between Homogenous and Non-Homogenous LQR controllers.


LQR; Maxon RE40; Mbed LPC 1768; PID; SSMR

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