Non-linear optimal control for four-wheel omnidirectional mobile robots

Abstract

The article proposes a non-linear optimal control approach for four-wheel omnidirectional mobile robots. The method has been successfully tested so-far on the control problem of several types of autonomous ground vehicles and the present article shows that it can also provide the only optimal solution to the control problem of four-wheel omnidirectional robotic vehicles. To implement this control scheme, the state-space model of the robotic vehicle undergoes first approximate linearisation around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the H-infinity controller an algebraic Riccati equation is repetitively solved at each time-step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. Finally, to implement state estimation-based feedback control, the H-infinity Kalman Filter is used as a robust state estimator.

Design an omnidirectional autonomous mobile robot based on non‐linear optimal control to track a specified path

“…Rigatos et al. [16] developed a non‐linear optimal control with the linearization point algorithm around a temporary operating point for omnidirectional robotic vehicles. In [17], a non‐linear disturbance observer is using an extended Kalman filter (NDEKF) that was developed for the problem of tracking the path of a wheeled mobile robot and achieving good position tracking and disturbance compensation.…”

Flatness-based disturbance observer for condition monitoring of marine power generation units

“…The rapid growth of energy consumption worldwide, as well as the shift to green energy and the associated netzero polluting gas emission objective have fostered the deployment of the use of renewable energy sources. [1][2][3][4] In this context, marine power generation units have a raising contribution to the energy balance of several countries where intensive tidal phenomena and strong sea currents appear. [5][6][7] The functioning of marine power generation units often takes place under harsh conditions, which results into turbine or generator failures.…”