Simulation-Based Learning of Feedback Control Through Planar Robot Motion

Denis Mosconi; João Domingos  Pereira; Marcelo Becker

doi:10.21439/jme.v9i1.136

Authors

Denis Mosconi Instituto Federal de São Paulo http://orcid.org/0000-0003-0565-6714
João Domingos Pereira Federal Institute of São Paulo - IFSP
Marcelo Becker University of São Paulo - USP

DOI:

https://doi.org/10.21439/jme.v9i1.136

Keywords:

Engineering education, Feedback control, Mobile robotics, Proportional Control, ROS2

Abstract

The understanding of feedback control concepts can be challenging for students when theoretical analysis is not directly connected to observable system behavior. Simulation environments can help bridge this gap by allowing learners to visualize the effects of control actions on system dynamics. This work presents a didactic framework for teaching classical proportional feedback control using the ROS~2 Turtlesim simulator. The proposed approach combines mathematical modeling, controller design, and robotic simulation to illustrate how proportional gain influences system response, convergence speed, and trajectory behavior. Simulation results demonstrate that the framework clearly exposes both theoretical properties and practical implementation effects, including actuator saturation and discretization phenomena. Because the system is simple to implement and relies on widely accessible open-source tools, it provides an effective platform for introducing students to feedback control concepts while simultaneously connecting classical control theory with mobile robotics applications.

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Author Biographies

Denis Mosconi, Instituto Federal de São Paulo

Holds a degree in Industrial Automation Technology from the Faculty of Technology of Catanduva (2012), a degree in Control and Automation Engineering from Paulista University (2018), a specialization in Maintenance Engineering from Paulista University (2017), and a master's degree in Mechanical Engineering from the University of São Paulo (2020). Currently, he is a professor of basic, technical, and technological education in the field of electronics at the Federal Institute of São Paulo, Catanduva campus. He has experience in the area of Automation and Control, mainly working on the following topics: Control of mechatronic systems, robotic neurorehabilitation, human-exoskeleton interaction models, and manipulator robots.

João Domingos Pereira, Federal Institute of São Paulo - IFSP

Doctor of Science in Materials and Technology from the São Paulo State University "Júlio de Mesquita Filho" - Bauru Campus; Bachelor's degree in Electrical Engineering from the Federal University of Goiás; Bachelor's degree in Physiotherapy and postgraduate degree (lato sensu) in Physiotherapy (area of concentration: Physiotherapy applied to Orthopedics and Traumatology) from the São Paulo State University "Júlio de Mesquita Filho" - Presidente Prudente Campus. Professor of Basic, Technical and Technological Education (EBTT) at the Federal Institute of São Paulo - Catanduva Campus. His main areas of expertise include: electronics, embedded systems, polymeric biomaterials, data science, artificial intelligence, characterization techniques using optical spectroscopy and mechanical analysis. Postdoctoral research at the Optoelectronics and Thin Films Laboratory (LOFF) - Faculty of Science and Technology FCT-UNESP of Presidente Prudente.

Marcelo Becker, University of São Paulo - USP

Professor Marcelo Becker graduated in Mechanical Engineering with an emphasis in Mechatronics from the School of Engineering of São Carlos - University of São Paulo (EESC-USP) in 1993. He completed his master's and doctoral degrees in Mechanical Engineering at the Faculty of Mechanical Engineering of the State University of Campinas (FEM-Unicamp), in 1997 and 2000, respectively. He undertook an internship at the Institute of Robotics at the Eidgenoessische Technische Hochschule Zürich - ETHZ, Switzerland (1999-2000) and a Post-Doctorate at the Autonomous Systems Lab at the École Polytechnique Fédérale de Lausanne - EPFL, Switzerland (2005-2006). He worked at the Polytechnic Institute of the Pontifical Catholic University of Minas Gerais (IPUC-PUC Minas) from 2001 to 2008 in the area of Mechatronics Engineering, having coordinated the Automation and Robotics Study Group (GEAR) and served as Deputy Coordinator of the Undergraduate Course in Mechatronics Engineering. Currently, he is an Associate Professor 3 in the Department of Mechanical Engineering at the School of Engineering of São Carlos - University of São Paulo (SEM-EESC-USP), Leader of the Mobile Robotics Group of SEM-EESC-USP, and Coordinator (2022-2025 term) and Member of the Board of Directors of CRob-SC (São Carlos Robotics Center). He completed his Habilitation (Livre Docência) at the School of Engineering of São Carlos - University of São Paulo (EESC-USP) in 2011, in the area of Mobile Robot Navigation. Since 2021, he has been Co-President of the ETH Alumni Chapter in São Paulo. He currently participates in research projects funded by CNPq, EMBRAPII, and FAPESP, coordinating 3 of these projects. He supervises undergraduate, Master's, Doctoral, and Postdoctoral students with scholarships from CNPq, CAPES, FAFQ, and FAPESP. He works in the area of Mechatronics Engineering, with an emphasis on Automation, Robotics, Mobile Robotics, Perception Systems, and Mechatronic Systems Design. His projects currently focus on Agriculture and Industrial Automation.

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Simulation-Based Learning of Feedback Control Through Planar Robot Motion

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Author Biographies

Denis Mosconi, Instituto Federal de São Paulo

João Domingos Pereira, Federal Institute of São Paulo - IFSP

Marcelo Becker, University of São Paulo - USP

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