Abstract

The knowledge of control engineering for mechanical engineers seems to become more important with the continuous development of automated technologies. To cultivate this knowledge, many experimental devices have been proposed and used. Devices with direct current (DC) motors are widely used because the DC motors can be controlled with sufficient accuracy based on the classical linear control theory. Mobile robots are used as educational platforms attracting the attention of students in various problem-based learning subjects. However, they have been hardly used to teach linear control theory because of the nonlinearity. This paper shows an experimental curriculum to learn control theory using a mobile robot instead of a motor. Although the model of the mobile robot is nonlinear, a strict linearization method makes it possible to adjust the control gains using the linear control theory. By applying the method, the characteristics of linear control systems are explicitly observed in the traveling paths of the mobile robot, so an experimental curriculum to learn the basic linear control theory can be realized using an inexpensive mobile robot. The proposed experimental curriculum was carried out in a class of a mechanical engineering course, and its results are discussed in this paper.

References

References
1.
Åström
,
K. J.
, and
Östberg
,
A.-B.
,
1986
, “
A Teaching Laboratory for Process Control
,”
IEEE Control Syst. Mag.
,
6
(
5
), pp.
37
42
. 10.1109/MCS.1986.1105142
2.
Furuta
,
K.
,
Yamakita
,
M.
,
Kobayashi
,
S.
, and
Nishimura
,
M.
,
1991
, “
A
,”
IFAC Symposium on Advances in Control Education
,
Boston, MA
,
June 24–25
, pp.
133
138
.
3.
Apkarian
,
J.
, and
Åström
,
K. J.
,
2004
, “
A Laptop Servo for Control Education
,”
IEEE Control Syst. Mag.
,
24
(
5
), pp.
70
73
. 10.1109/MCS.2004.1337864
4.
Åström
,
K. J.
,
Apkarian
,
J.
, and
Lacheray
,
H.
,
2004
,
DC Motor Control Trainer Instructor Workbook
,
Quanser Consulting Inc.
,
Markham, Canada
.
5.
Lin
,
S.-C.
, and
Tsai
,
C.-C.
,
2009
, “
Development of a Self-Balancing Human Transportation Vehicle for the Teaching of Feedback Control
,”
IEEE Trans. Education
,
52
(
1
), pp.
157
168
. 10.1109/TE.2008.921799
6.
Hably
,
A.
,
Tang
,
R.
,
Dumon
,
J.
, and
Carriquiry
,
A.
,
2019
, “
RobotMe: A Drone Platform for Control Education
,”
IECON 2019
,
Lisbon, Portugal
, pp.
5275
5280
. 10.1109/IECON.2019.8927551
7.
Huang
,
H.-H.
,
Su
,
J.-H.
, and
Lee
,
C.-S.
,
2013
, “
A Contest-Oriented Project for Learning Intelligent Mobile Robots
,”
IEEE Trans. Education
,
56
(
1
), pp.
88
97
. 10.1109/TE.2012.2215328
8.
Ortiz
,
O. O.
,
Franco
,
J. Á. P.
,
Garau
,
P. M. A.
, and
Martín
,
R. H.
,
2017
, “
Innovative Mobile Robot Method: Improving the Learning of Programming Languages in Engineering Degrees
,”
IEEE Trans. Education
,
60
(
2
), pp.
143
148
. 10.1109/TE.2016.2608779
9.
Soriano
,
A.
,
Marín
,
L.
,
Vallés
,
M.
,
Valera
,
A.
, and
Albertos
,
P.
,
2014
, “
Low Cost Platform for Automatic Control Education Based on Open Hardware
,”
Proceedings of the 19th IFAC World Congress
,
Cape Town, South Africa
,
Aug. 24–29
, pp.
9044
9050
. 10.3182/20140824-6-ZA-1003.01909
10.
McLurkin
,
J.
,
Rykowski
,
J.
,
John
,
M.
,
Kaseman
,
Q.
, and
Lynch
,
A. J.
,
2013
, “
Using Multi-Robot Systems for Engineering Education: Teaching and Outreach With Large Numbers of an Advanced, Low-Cost Robot
,”
IEEE Trans. Education
,
56
(
1
), pp.
24
33
. 10.1109/TE.2012.2222646
11.
Brockett
,
R. W.
,
1983
,
Asymptotic Stability and Feedback Stabilization, in Differential Geometric Control Theory
,
Birkhäuser
,
Basel
.
12.
Pomet
,
J.-B.
,
1992
, “
Explicit Design of Time-Varying Stabilizing Control Laws for a Class of Controllable Systems Without Drift
,”
Syst. Control Lett.
,
18
(
2
), pp.
147
158
. 10.1016/0167-6911(92)90019-O
13.
Samson
,
C.
,
1995
, “
Control of Chained Systems Application to Path Following and Time-Varying Point-Stabilization of Mobile Robots
,”
IEEE Trans. Automat. Contr.
,
40
(
1
), pp.
64
77
. 10.1109/9.362899
14.
Sørdalen
,
O. J.
, and
Egeland
,
O.
,
1995
, “
Exponential Stabilization of Nonholonomic Chained Systems
,”
IEEE Trans. Automat. Contr.
,
40
(
1
), pp.
35
49
. 10.1109/9.362901
15.
Marchand
,
N.
, and
Alamir
,
M.
,
2003
, “
Discontinuous Exponential Stabilization of Chained Form Systems
,”
Automatica
,
39
(
2
), pp.
343
348
. 10.1016/S0005-1098(02)00229-7
16.
Sampei
,
M.
,
1994
, “
A Control Strategy for a Class of Non-Holonomic Systems—Time-State Control Form and Its Application
,”
Proceedings of the 33rd Conference on Decision and Control
,
Lake Buena Vista, FL
,
Dec. 14–16
, pp.
1120
1121
.
17.
Yamakawa
,
S.
, and
Ebara
,
K.
,
2017
, “
Control of Mobile Robot by Switching Traveling Direction and Control Gain
,”
ROBOMECH J.
,
4
(
29
), pp.
1
10
. 10.1186/s40648-017-0097-z
18.
Kawano
,
T.
,
2018
,
ROBO DESIGNER User’s Guide ver.3.20
,
JAPAN ROBOTECH Ltd.
(in Japanese).
19.
Yamakawa
,
S.
, “
Let’s Learn Control Theory Using a Mobile Robot
,”
last modified July 1, 2020
, http://www2.toyo.ac.jp/∼yamakawa/lecture/experimentEn.html, Accessed September 17, 2020.
20.
Kuo
,
B. C.
,
1987
,
Automatic Control Systems—Fifth Edition
,
Prentice-Hall, Inc.
,
Hoboken, NJ
.
21.
Yamakawa
,
S.
,
2019
, “
Experimental Curriculum for Learning Control Theory Using a Mobile Robot
,”
Trans. SICE
,
55
(
7
), pp.
457
465
(
in Japanese
). 10.9746/sicetr.55.457
You do not currently have access to this content.