Data-Driven Control and Behavior-Based Control Applied to a SISO Mobile Robot

• M. A. Pastrana UnB
• Karine R. Santos UnB
• Alceu B. C. de Farias UnB
• Daniel M. Muñoz UnB

Resumo

With the advancement of technology, systems in many different areas of application have become more complex, and obtaining reliable mathematical models is a task that is increasingly becoming more difficult as well. To overcome these issues, new methodologies have emerged, such as the one known as Data-Driven-Control (DDC), which uses the input and output data of the system to design a controller, and Behavior-Based-Control (BBC), which provides the controller based on the desired behavior of a system. In this work, these two methodologies were applied to obtain the transfer function of a Single-Input Single-Output mobile robotic platform that moves parallel to a wall. A Proportional Integral Derivative controller was used to control the left wheel, while the right wheel was set to a constant speed, allowing the mobile robot to maintain a constant distance from the wall. The controller was tuned utilizing root locus methodology with an overshot of 16.7%, settling time of 6.45 seconds, and a static error of 2.1%. Additionally, disturbances were added to test the robustness of the mobile robot model and the PID controller.

Palavras-chave: Analytical models, Biological system modeling, Wheels, Transfer functions, Robot sensing systems, Control systems, Mathematical models, Mobile Robotics, Data-Driven-Control, Behavior-Based-Control, System Identification