Control and Model Identification of a Mobile Robot's Motor based in Least Squares and Instrumental Variable methods

Abstract

When no exact measurements are available the task of solving the dierential equations describing the dynamics of mobile robot can be hard and inecient. In this pa per we propose a procedure for dynamic model identification and control of the process (motor + reduction + encoder) of a omni-Directional Mobile Robot's Motors. Our techniques are based in Least Squares Methods and Instrumental Variable Methods for linear dynamic systems. Notably, the approach used here is applicable to any robot with DC motors, or, more generally, to any process with DC motor with encoder and PWM control made by a microcontroller.