Supervisor: 
Dr.  Bashir  Nouri

Prepared By: 
Manar Mohammad Sa’id  
Deema Abd-Rahman Odeh  
Rola "Mohammad Eid" Sabbah
AN-NAJAH NATIONAL UNIVERSITY
FACULTY OF ENGINEERING

DEPARTMENT OF MECHATRONICS ENGINEERING
CONTROL  OF  MOBILE  ROBOT

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1

Outlines
Introduction
System Structure 
Modeling of  Mobile Robot
Programming and Testing
Control of DC Motor
Fuzzy Controller
Conclusion




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2



System Structure 

Component

DC motor
Wheels
 Sensor :Ultrasonic Sensors 
Measurement devices





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Modeling of Mobile Robot 
Modeling  of Mobile Robot
       A description of a system using mathematical concepts .  











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5
Mobile robots Instantaneous Center of Rotation (ICR)




                                                                                               



























Control of DC Motor

Case 1: Field current controlled DC motor 




The air gap flux (φ) is proportional to the field current (if) as follows: 

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Case 2: Armature controlled DC motor 
















 DC Motor Speed 
 P-Controller 

Step response with P controller






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PID Controller 
This transfer function writes in S-domain as:


The equation for the output in the time domain is :

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PID Controller 
PID controller with large KI and large KD

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Kp=100
Ki=200
Kd=10
















Root Locus Controller Design


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  Closed-loop transfer function















Bode diagram for transfer function related with velocity and angle





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Root Locus Controller Design


12
 Closed-loop transfer function –PID Controller 

















Testing and Programming

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Testing and Programming
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Testing and Programming



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Test and Programming



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Fuzzy Controller



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Mobile Robot avoiding obstacle and reach to the goal



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19

Thank you for your attention




Any questions?















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obstacle

Mobile 

Robot


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Fuzzy Rule 

Base

Fuzzy Inference 

Engine

DefuzzifierFuzzifier

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Fuzzy sets 

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obstacle



Mobile Robot



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