A Comprehensive Multistage Average Controller for Trajectory Tracking in Solar-Powered Mobile Robots: Analysis of Actuator-Driver and Power Stage Integration

Abstract

This work addresses the challenge of bidirectional trajectory tracking in solar-powered wheeled mobile robots (WMRs), considering the mechanical structure, actuator-driver, and power stage subsystems. Notably, this is the first study to explicitly model and control the actuator-driver subsystem within this context. The proposed solution relies on a comprehensive three-stage average controller scheme: the top-stage applies an input–output linearization strategy to ensure accurate bidirectional tracking; the mid-stage employs a control based on differential flatness theory to manage the dynamic behavior of the actuators and their driver, represented by an H-bridge; and the low-stage, also based on flatness theory, regulates the power stage, modeled as a Buck converter. The proposed multistage control strategy is experimentally validated using a differential-drive WMR prototype, where a B&K Precision PVS60085MR source is used to replicate the operational characteristics of a commercial photovoltaic panel. System integration is achieved through a DS1104 control board, with real-time implementation carried out in MATLAB/Simulink. Experimental results demonstrate that the controller successfully fulfills the bidirectional trajectory tracking task, even in the presence of system parameter variations and disturbances in the variable-voltage source.

Keywords

bidirectional trajectory tracking / DC/DC Buck converter / DC motor / differential flatness control / H-bridge / input–output control / multistage average controller / renewable energy / wheeled mobile robot

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