Control Design and Implementation of Autonomous Robotic Lawnmower

Yung-Hsiang Chen ()
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Yung-Hsiang Chen: Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung 912301, Taiwan

Mathematics, 2024, vol. 12, issue 21, 1-25

Abstract: This paper presents the trajectory tracking control design and implementation of feedback linearization (FL) and robust feedback linearization (RFL), applicable to a robotic lawnmower with four mecanum driving wheels. The RFL control design additionally includes a robust control law. These two nonlinear control laws are developed to enable the controlled robotic lawnmower to accurately follow any specified trajectory. The simulation outcomes illustrate that the suggested control law based on RFL displays superior trajectory tracking accuracy and resilience compared to the FL control method in the case of a robotic lawnmower operating under demanding conditions. These conditions encompass environmental disturbances and uncertainties in modeling. The RFL control method also exhibits lower energy consumption compared to the FL control method. Finally, using the RFL controller derived from this study, the error in trajectory tracking in computer simulations and the actual mowing performance have demonstrated outstanding results.

Keywords: robotic lawnmower; trajectory tracking; feedback linearization (FL); robust feedback linearization (RFL); energy consumption (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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