1. CONTROL OF MOBILE ROBOT
AN-NAJAH NATIONAL UNIVERSITY FACULTY OF ENGINEERING
DEPARTMENT OF MECHATRONICS ENGINEERING
CONTROL OF MOBILE ROBOT
Prepared By:
Manar Mohammad Sa’id
Deema Abd-Rahman Odeh
Rola "Mohammad Eid" Sabbah
Supervisor:
Dr. Bashir Nouri

2. Outlines Introduction System Structure Modeling of Mobile Robot
Programming and Testing
Control of DC Motor
Fuzzy Controller
Conclusion

3. System Structure Component DC motor Wheels Sensor :Ultrasonic Sensors
Measurement devices

4. Modeling of Mobile Robot
Modeling of Mobile Robot A description of a system using mathematical concepts .

5. Mobile robots Instantaneous Center of Rotation (ICR)

6. Control of DC Motor
The air gap flux (φ) is proportional to the field current (if) as follows:
Case 1: Field current controlled DC motor
Case 2: Armature controlled DC motor

7. DC Motor Speed P-Controller
Step response with P controller

8. PID Controller This transfer function writes in S-domain as:
The equation for the output in the time domain is :

9. PID Controller PID controller with large KI and large KD Kp=100 Ki=200

10. Root Locus Controller Design
Closed-loop transfer function

11. Bode diagram for transfer function related with velocity and angle11
Bode diagram for transfer function related with velocity and angle

12. Root Locus Controller Design
Closed-loop transfer function –PID Controller

13. Testing and Programming

14. Testing and Programming

15. Testing and Programming

16. Test and Programming

17. Fuzzy Controller

18. Mobile Robot avoiding obstacle and reach to the goal

19. Thank you for your attention
Any questions?