Fig 7 - uploaded by Amir Salimi Lafmejani
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(a) Isometric and (b) overhead views of the threewheeled omnidirectional WMR used in the experiments. The global coordinate frame is defined as in Fig. 1.
Source publication
In this paper, we present an optimal control approach using Linear Matrix Inequalities (LMIs) for trajectory tracking control of a three-wheeled omnidirectional mobile robot in the presence of external disturbances on the robot's actuators and noise in the robot's sensor measurements. First, a state-space representation of the omnidirectional robot...
Context in source publication
Context 1
... this section, we implement the classical and H ∞ trajectory tracking controllers described in Section III on the three-wheeled omni-directional robot shown in Fig. 7. This robot has three omni wheels connected to Dynamixel DC motors that are spaced 120 • apart. The rollers around the rims of the omni wheels allow the robot to move freely to any arbitrary configuration. The Dynamixel motors can measure the omni wheels' rotation angles, θ i (i = 1, 2, 3), and their 1, 2, 3), using embedded encoders. ...
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Virtual model control is a motion control framework that uses virtual components to create virtual forces/torques, which are actually generated by joint actuators when the virtual components interact with robot systems. Firstly, this paper employs virtual model control to do a dynamic balance control of whole body of quadruped robots' trot gait in...
Citations
... The problem of tracking trajectory is still fascinating and interests many investigators. Since the rapid progress of many indoor and outdoor applications that act in complex environment [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. In addition, the majority of WMRs can be categorized as nonholonomic mechanical systems (pure rolling without side slipping motion). ...
... The motion of a WMR in this scenario carries three degrees of freedom, but under the nonholonomic restriction, it can only be controlled by two control inputs. These control issues have freshly interested a great attention of many researchers [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Each mechanism has its own specific dynamics propriety that it is different from one robot to another, which means a standard regulation technique is not available. ...
... In order to deal with disgust issues, a robust control method is required. Various powerful control approaches have been implemented practically to handle this problem, such as sliding mode control [11,12], adaptive control [13][14][15], H-infinity control [16,17], neural network control [18][19][20], fuzzy logic type-2 in the study [21,22], and using the adaptive neuro-fuzzy inference (ANFIS) [23]. ...
This study aims to address the challenge of low-cost hardware implementation of a combined backstepping with fractional order PID (FOPID) controller for mobile robots in real-time applications. Moreover, this work proposes a self-designed mobile robot prototype that is easy to realize, low in cost, spares time, and reduces human effort. This robot platform was equipped with two DC motors with quadratic encoders and two passive wheels, controlled by an Arduino mega, where the software code was developed in the Matlab-Simulink environment, using Simulink support package for Arduino. Four case studies were conducted to demonstrate the effectiveness of the suggested methodology. Experimental results demonstrate improved trajectory tracking performance with less tracking error and smooth control efforts, and is capable of handling trajectories with continuous and non-continuous gradients.
... Proposition 1 (Higher-order sliding mode observer (HOSMO)): Consider dynamic model (4), where state x can be adequately estimated by a HOSMO with the following structure: T will be governed by the following estimation error dynamic system: ...
This work presents a robust control strategy that allows an adequate tracking of position and orientation reference trajectories for omnidirectional three-wheeled mobile robots. The outlined control scheme is based on the design of a Higher-Order Sliding Mode Observer (HOSMO) to estimate disturbances, model uncertainties, and unmodelled dynamics of the robot, assumed grouped into a state variable that is then feedback by the control law to cancel it. Super Twisting (ST) and classical Generalized Proportional Integral (GPI) control laws are used here with the designed observer, and performance of both is compared through simulations with a virtual multi-body dynamic model, integrating ADAMS and MATLAB.
The main objective of this paper is to handle the trajectory tracking control for a class of three-wheel mobile robot by using a novel adaptive robust control. The mobile robot consists of nonholonomic constraints and uncertainties. The uncertainties include initial condition offset, mass, and moment of inertia of the system, which are time-varying and bounded (unknown). The control force in analytical form is obtained by UK theory, and the adaptive robust control is formulated to handle the uncertainties. For estimating the unknown bounds of uncertainties, the leakage-type adaptive law is designed, which can automatically adjust its own value according to the trajectory tracking errors. Then we verify the uniform boundedness and uniform ultimate boundedness of the proposed control by Lyapunov method. Finally, numerical simulations are conducted to show the trajectory tracking effectiveness of the designed control method.
