Influence of Control System Architecture on Mobile Robot Stability and Performance.

This paper presents an analysis of the impact of the control architecture in a mobile robot on the quality of regulation in real systems. Comparative studies were conducted for successive stages of the implementation of architectural improvements, such as optimization of RTOS resource utilization, the use of hardware mechanisms (DMP, DMA) for sensor data acquisition, and the optimization of subordinate controllers. The results showed that the final control quality depends not only on the controller tuning but also on the efficient management of the hardware and software resources of the control system. Retuning the PID controller after architectural modifications enabled the achievement of a better control quality index (IAE). The novelty of this work lies in demonstrating, through experimental evaluation, that embedded control architecture has a measurable and systematic impact on regulation quality in real systems. The obtained results indicate a significant relationship between control architecture and control performance, representing an important step toward bridging the gap between simulation studies and real-world implementations in mobile robotics.