Tuning of characteristics of dynamic driving suspensions in an autonomous robot with omnidirectional wheels

Duda, Sławomir; Gembalczyk, Grzegorz; Klein, Wojciech; Dudek, Olaf

doi:10.15632/jtam-pl/149415

Cited by 1 publication

(1 citation statement)

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“…The application of passive rollers on the omnidirectional wheel is utilized to improve both the accuracy of steering and overall stability. Furthermore, one of its other advantages is not encountering obstacles [1][2][3][4]. The problem of motion control has been extensively studied in the field of mobile robots, as an essential part of it, the issue of track control with minimal energy consumption and minimum tracking error has attracted the attention of many researchers in the field of omnidirectional mobile robotics [5,6].…”

Section: Introductionmentioning

confidence: 99%

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

Shahgholian,

Akhavan,

Kamrani

et al. 2024

IET Control Theory & Appl

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This paper explores two non‐linear control techniques for designing an effective control system for an omnidirectional autonomous mobile robot with four Mecanum wheels. Due to the unique wheel structure and four separate wheels, the robot has non‐linear dynamics, multiple inputs and outputs. The first technique uses the state‐dependent Riccati equation (SDRE) to address optimal non‐linear control while considering energy and time constraints. The second technique, using an intermediate variable , has expanded the Hamilton‐Jacobi‐Belman equation in terms of the power series. Consequently, these equations are reduced to a set of recursive Lyapunov algebraic equations, leading to a closed‐form solution for solving the non‐linear optimal control problem. Finally, the maneuverability and path‐tracking capability of the robot are examined by highlighting the non‐linear term through numerical simulation.

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