Abstract
This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is analyzed. Then the control system is designed based on the energy shaping plus damping approach. We find that the prototype robot itself has enough damping forces. As a result, only energy shaping is needed in our proposed controller, while the damping injection is unnecessary for our robot. In other words, the disadvantages of differential feedback, such as amplifying the measurement noise, can be avoided. Globally asymptotic stability is guaranteed. Both simulations and experimental results show the effectiveness of the proposed control design.
Highlights
Omnidirectional mobile robots (OMRs) are becoming increasingly popular in many applications
Many studies have been conducted in the dynamic model-based control design for OMRs
Methods we first derive a dynamic model for the omnidirectional mobile robot, and the passivity property of the open-loop robot dynamic system is analyzed
Summary
Omnidirectional mobile robots (OMRs) are becoming increasingly popular in many applications. Many studies have been conducted in the dynamic model-based control design for OMRs. In [1], a feedback linearization approach, i.e., resolved acceleration control, was applied to an OMR with lateral orthogonal-wheels. It has been a very powerful concept in many control problems in robotics: stability analysis [8, 9], teleoperation control [10,11,12], flexible robot control [13,14,15], to name a few It has been overlooked for the control problem of OMRs. In this paper, a passivity-based trajectory tracking control system is designed for a three-wheeled OMR with MY wheel-II. Dout experimental results show the effectiveness of the proposed control design
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