Modeling and control-related analysis of the ground pressure exerted by wheels in a tri-wheel mobile robot

Abstract

The paper presents a method for modeling of the ground pressure exerted by the wheels of a tri-wheel mobile robot followed by a control algorithm that includes changes in the pressure. The simulation output is compared with the measured values of the ground pressure, demonstrating a very good modelling accuracy. Based on the modelled ground pressure characteristics, we successfully modify the equations of the well-known PWM regulator.