Using current sensing method and fuzzy PID controller for slip phenomena estimation and compensation of mobile robot

Slip on the mobile robot has a significant impact on the maneuver and the accuracy of the mobile robot movement. The slip phenomenon occurs because of the loss of traction between the surface and the wheels due to the spontaneous acceleration or declaration application. This paper presents a method to improve DC motor performance by using slip control as an observer such that the slip phenomenon effect can be minimized. The performance that will be analyzed is the accuracy of motor speed and robot position accuracy when the robot is moving. The result shows that the Root Mean Squared Error (RMSE) for the motor speed performance that does not use slip control is 2.680, the system using slip control produces RMSE 1.3393. Regarding the robot position accuracy, the RMSE of the system that does not use slip control is 0.0379, the system using slip control is 0.0065.

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“…Taheri H., et al, explained in [12] regarding the kinematics of Omni wheel configuration which is depicted in Figure 1. i is the index of wheels.…”

Section: A Omnidirectional Kinematicmentioning

confidence: 99%

Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon

Marta

Sari

2021

Inf. J. Ilm. Bid. Teknol. Inf. dan Komun.

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“…[19] proposes an algorithm for optimal slip control of wheeled robots with the trade-off between traction and energy consumption based on observing a change in a robot's velocity on different soil surfaces. An optimal slip ratio control using a current sensing method is presented in [20]. The controller consisted of a fuzzy PID structure.…”

Section: Introductionmentioning

confidence: 99%

PID-like Fuzzy Controller Design for Anti-Slip System in Quarter-Car Robot

García-Martínez¹,

Cruz-Miguel²,

Rodríguez‐Reséndiz³

et al. 2023

Advances in Fuzzy Logic Systems

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The design strategy of an adaptive Proportional-Integral-Derivative (PID)-like fuzzy controller for an anti-slip Quarter-Car robotic system is proposed. The proposed control system is constructed by two loops, an external one for lineal speed control and an internal loop for current control. A motion profile is used to follow a trajectory. The slip is computed, such as the difference between the linear velocity given by an S-curve velocity profile and the longitudinal speed calculated according to the rotational speed of the Quarter-Car tire. This difference is the input of the external control loop. Whether the slip is significant, the slave controller must do that both velocities go at the same speed controlling the current of the direct current (DC) motor. On the other hand, the mathematical model of a tire coupled to the DC-motor model is presented to simulate the system and controller response. To test the robustness of the system, different scenarios are presented where the slip coefficient varies depending on the work surface. Three surfaces were selected to test the performance of the controller, dry, wet, and icy surfaces, while the system had a trajectory.

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“…Wheel slip is almost impossible to be measured directly; therefore, in most of the cases, it has to be estimated. Thus, many slip estimation approaches have been proposed [8], such as sliding mode control [9,10], motor current sensing control [11], Kalman [12,13] or particle filter [14,15] based estimations, IMU-based slip estimation [16], and vision-based estimation [17]. All these methods have advantages and limitations reported in depth in the literature.…”

Section: Introductionmentioning

confidence: 99%

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

et al. 2021

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In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

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Using current sensing method and fuzzy PID controller for slip phenomena estimation and compensation of mobile robot

Cited by 5 publications

References 7 publications

Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon

Improvement of DC Motor Speed Control for Mobile Robot to Minimize Slip Phenomenon

PID-like Fuzzy Controller Design for Anti-Slip System in Quarter-Car Robot

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

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