Trajectory tracking control for omnidirectional mobile robot in presence of wheel slipping - Details

Author：

Jia, Song-Min (Jia, Song-Min.) (Scholars：贾松敏) | Lu, Xing-Yang (Lu, Xing-Yang.) | Zhang, Xiang-Yin (Zhang, Xiang-Yin.) | Zhang, Guo-Liang (Zhang, Guo-Liang.)

Indexed by：

EI CSCD

Abstract：

Aiming　at　the　problem　of　unknown　wheel　skidding　disturbance　in　trajectory　tracking　control　of　omnidirectional　mobile　robots,　an　active　disturbance　rejection　backstepping　controller　(ADRBTC)　is　designed.　Firstly,　the　kinematics　model　of　an　omnidirectional　mobile　robot　in　the　presence　of　wheel　skidding　disturbance　is　established;　Then,　the　trajectory　tracking　controller　based　on　the　kinematics　model　of　the　omnidirectional　mobile　robot　is　designed　by　combining　the　active　disturbance　relection　controller(ADRC)　technology　with　the　backstepping　control　technology,　and　the　controller　estimates　and　compensates　the　sliding　disturbance　in　real　time　from　longitudinal　control,　lateral　control　and　attitude　control,　respectively;　Finally　the　stability　of　the　closed　loop　system　is　analyzed　by　using　Lyapunov　theorem.　Simulation　results　verify　the　effectiveness　and　robustness　of　the　proposed　control　algorithm.　©　2020,　Editorial　Office　of　Control　and　Decision.　All　right　reserved.

Keyword：

Disturbance rejection Mobile robots Navigation Wheels Longitudinal control Backstepping Closed loop systems Controllers Trajectories Kinematics Skidding

Author Community：

[ 1 ] [Jia, Song-Min]Faulty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 2 ] [Jia, Song-Min]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing; 100124, China
[ 3 ] [Jia, Song-Min]Engineering Research Center of Digital Community of Ministry of Education, Beijing; 100124, China
[ 4 ] [Lu, Xing-Yang]Faulty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 5 ] [Lu, Xing-Yang]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing; 100124, China
[ 6 ] [Lu, Xing-Yang]Engineering Research Center of Digital Community of Ministry of Education, Beijing; 100124, China
[ 7 ] [Zhang, Xiang-Yin]Faulty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 8 ] [Zhang, Xiang-Yin]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing; 100124, China
[ 9 ] [Zhang, Xiang-Yin]Engineering Research Center of Digital Community of Ministry of Education, Beijing; 100124, China
[ 10 ] [Zhang, Guo-Liang]Faulty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 11 ] [Zhang, Guo-Liang]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing; 100124, China
[ 12 ] [Zhang, Guo-Liang]Engineering Research Center of Digital Community of Ministry of Education, Beijing; 100124, China

Reprint Author's Address：

[zhang, xiang-yin]engineering research center of digital community of ministry of education, beijing; 100124, china;;[zhang, xiang-yin]beijing key laboratory of computational intelligence and intelligent system, beijing university of technology, beijing; 100124, china;;[zhang, xiang-yin]faulty of information technology, beijing university of technology, beijing; 100124, china

Email：

xy_zhang@bjut.edu.cn

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