Artificial Fuzzy-PID Gain Scheduling Algorithm Design for Motion Control in Differential Drive Mobile Robotic Platforms

Table 4

Electric DC motor subsystem parameters.

Parameter	Unit
Torque constant, Kt	1,1882 Nm/A
Armature resistance, Ra	0.1557 Ohms (Ω)
Armature inductance, La	0.82 MH
Geared-motor inertia, Jm	0.271 kg.m^2
Motor viscous damping, bm	0.271 N.m.s
Motor back EMF constant, kb	1.185 rad/s/v
Gear ratio	n = 3
The aerodynamic drag coefficient, Cd	0.80
The air density (kg/m^3) at STP, ρ	1.25
Wheel radius, r	0.075 m
Platform height, h	0.920 m
Platform width, b	0.580 m
Wheels center distance	0.4 m
Total platform mass	100 kg
Total equiv. inertia, Jequiv	0.2752 kg.m^2
Total equiv. damping	0.3922 N.m.s
The coefficient of lift, CL	0.13
Inclination angle to be	45 degrees