Generalized proportional integral observer based control of an omnidirectional mobile robot

被引：32
作者：
Ren, Chao [1 ]
Ma, Shugen [1 ,2 ]
机构：
[1] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan
[2] Tianjin Univ, Sch Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
MECHATRONICS | 2015年 / 26卷
关键词：
Generalized proportional integral observer; Omnidirectional mobile robot; Switch omnidirectional wheels; Trajectory tracking control; DISTURBANCE REJECTION CONTROL; BUCK-CONVERTER; ROBUST-CONTROL; SYSTEMS; DESIGN;
D O I：
10.1016/j.mechatronics.2015.01.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an observer based trajectory tracking control system design for an omnidirectional mobile robot with MY wheel-II. MY wheel-II is a switch wheel mechanism. Switch wheeled omnidirectional mobile robots are complicated autonomous switched nonlinear systems. In this paper, the complicated switching dynamics, unmodeled dynamics and input-output cross-couplings are considered as an unknown time-varying perturbation input vector, which is online estimated by means of a generalized proportional integral observer. The original switched nonlinear multi-input multi-output system is then reduced to three decoupled double integrators in an approximate manner. Traditional proportional derivative controllers are then applied to the decoupled double integrators. In addition, only part of the robot model information is used in the control system design. Simulation and experimental tests illustrate the effectiveness of this practical control method. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：36 / 44
页数：9
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