Path-Tracking Dynamic Model Based Control of an Omnidirectional Mobile Robot

“…Before presenting the main result of the paper we briefly recalled the solution obtained by considering a modified version of the well know Computed-Torque control strategy. Following [11], it is possible to consider for system (4) a feedback law of the form,…”

Section: Computed-torque Control Solutionmentioning

confidence: 99%

“…In [10], the mobile robot is analyzed in the case of a vehicle supporting castor wheels. In [11] the trajectory tracking problem is addressed and solved by considering a modification of the well known Computed-Torque strategy. Finally, in [2] the time-optimization problem of a desired trajectory is considered for a mobile robot subject to admissible input limits in order to obtain feedback laws that are based on the kinematic and dynamic models.…”

Section: Introductionmentioning

confidence: 99%

“…Following ideas developed in the field of power electronics addressed as: Exact Tracking Error Dynamics Passive Output Feedback (ETEDPOF), in this work it is considered a passivity-based control technique that exploits the passivity properties of the exact tracking error, [15], [16]. The performance of the proposed control strategy is contrasted through numerical simulations with the well-known Computed-Torque Control [11] for a desired circular trajectory.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory-tracking dynamic control of an omnidirectional mobile robot

Velasco-Villa

Rodriguez-Cortes

Estrada-Sanchez

et al. 2009

2009 35th Annual Conference of IEEE Industrial Electronics

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In this paper, the trajectory-tracking control problem of an omnidirectional mobile robot (also known as a type (3,0)) is addressed and solved. The proposed controller takes into account the mobile robot dynamic model and it is based on a particular passivity-based control formulation, widely applied in power electronics, resulting in linear time-varying controllers. It is formally proved that the proposed control strategy allows the exponentially asymptotic convergence of the tracking errors to zero and assures closed loop stability. The proposed tracking strategy is evaluated by numerical simulations and compared with the well known Computed-Torque control strategy, exhibiting an improved performance.

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“…A kinematic control method based on feedback linearization was proposed in [13] in order to achieve simultaneous tracking and stabilization. The computed torque method with proportional differential (PD) terms was applied by [28] to solve the trajectory tracking control problem of the robot.…”

Section: Introductionmentioning

confidence: 99%

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

Andreev¹,

Peregudova²

2020

Nelin. Dinam.

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This paper addresses the trajectory tracking control design of an omnidirectional mobile robot with a center of mass displaced from the geometrical center of the robot platform. Due to the high maneuverability provided by omniwheels, such robots are widely used in industry to transport loads in narrow spaces. As a rule, the center of mass of the load does not coincide with the geometric center of the robot platform. This makes the trajectory tracking control problem of a robot with a displaced center of mass relevant. In this paper, two controllers are constructed that solve the problem of global trajectory tracking control of the robot. The controllers are designed based on the Lyapunov function method. The main difficulty in applying the Lyapunov function method for the trajectory tracking control problem of the robot is that the time derivative of the Lyapunov function is not definite negative, but only semidefinite negative. Moreover, the LaSalle invariance principle is not applicable in this case since the closed-loop system is a nonautonomous system of differential equations. In this paper, it is shown that the quasi-invariance principle for nonautonomous systems of differential equations is much convenient for the asymptotic stability analysis of the closed-loop system. Firstly, we construct an unbounded state feedback controller such as proportional-derivative term plus feedforward. As a result, the global uniform asymptotic stability property of the origin of the closed-loop system has been proved. Secondly, we find that, if the damping forces of the robot are large enough, then the saturated position output feedback controller solves the global trajectory tracking control problem without velocity measurements. The effectiveness of the proposed controllers has been verified through simulation tests. Namely, a comparative analysis of the bounded controller obtained and the well-known "PD+" like control scheme is carried out. It is shown that the approach proposed in this paper saves energy for control inputs. A. S. Andreev, O. A. PeregudovaBesides, a comparative analysis of the bounded controller and its analogue constructed earlier in a cylindrical phase space is carried out. It is shown that the controller provides lower values for the root mean square error of the position and velocity of the closed-loop system.

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Path-Tracking Dynamic Model Based Control of an Omnidirectional Mobile Robot

Cited by 21 publications

References 17 publications

Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach

Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach

Trajectory-tracking dynamic control of an omnidirectional mobile robot

On Global Trajectory Tracking Control for an Omnidirectional Mobile Robot with a Displaced Center of Mass

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