Buradasınız

Anasayfa » Content

Modeling and Adaptive Fuzzy Control for an Omni-Directional Wheeled Robot

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2013

Key Words:

Author Name
Abstract (2. Language): 
The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy function approximator are included in the control law, and the parameters adaptation law with modification is considered for the uncertainty estimation. The proposed control strategy has arbitrary trajectory following capability of simultaneous translation and rotation control for the wheeled robot. Computer simulations are used to illustrate the effectiveness of the suggested control approach.
Bookmark/Search this post with
FULL TEXT (PDF): 
Microsoft Office document icon arastrmx_153796_3_pp_138-152.doc
  • 3
138-152
  • English

REFERENCES

References: 

] N. Ould-Khessal, “Design and implementation of a robot soccer team based on omni-directional wheels,” in: 2nd Canadian Conference on Computer and Robot Vision, pp. 544-549, 2005.

[2] Y. Liu, J.J. Zhu, R.L. Williams II, and J. Wu, “Omni-directional mobile robot controller based on trajectory linearization,” Robotics and Autonomous Systems, vol. 56, pp. 461-479, 2008.

[3] R. Siegwart, I.R. Nourbakhsh, and D. Scaramuzza, Introduction to Autonomous Mobile Robots, 2nd ed., MIT Press, 2011.

[4] I.E. Paromtchik, U. Rembold, “A practical approach to motion generation and control for an omnidirectional mobile robot,” in Proceedings of IEEE International Conference on Robotics and Automation, pp. 2790-2795, 1994.

[5] L. Wilson, C. Williams, J. Yance, J. Lew, R.L. Williams II, and P. Gallina, “Design and modeling of a redundant omni-directional RoboCup goalie,” in: RoboCup 2001 International Symposium, Seattle, WA, August 2001.

[6] J. Wu, “Dynamic path planning of an omni-directional robot in a dynamic environment,” Ph. D. Dissertation, Ohio University, Athens, OH, 2005.

[7] M. Velasco-Villa, B. del-Muro-Cuellar, and A. Alvarez-Aguirre, “Smith-predictor compensator for a delayed omnidirectional mobile robot,” in Mediterranean Conference on Control and Automation, Athens, Greece, July 2007, pp. 1-6.

[8] M. Velasco-Villa, A. Alvarez-Aguirre, and G. Rivera-Zago, “Discrete-time control of an omnidirectional mobile robot subject to transport delay,” in Proceedings of the American Control Conference, New York City, USA, pp. 2171-2176, July 2007.

[9] T.K. Nagy, P. Ganguly, and R. D’Andrea, “Real-time trajectory generation for omni-directional vehicle,” in Proceedings of the American Control Conference, pp. 286-291, 2002.

[10] T.K. Nagy, R. D’Andrea, and P. Ganguly, “Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle,” Robotics and Autonomous Systems, vol. 47, no. 1, pp. 47-64, 2004.

[11] H.A. Samani, A. Abdollahi, H. Ostadi, and S.Z. Rad, “Design and development of a comprehensive omni directional soccer robot,” International Journal of Advanced Robotic Systems, vol. 1, no. 3, pp. 191-200, 2004.

[12] B. d’Andréa-Novel, G. Bastin, and G. Campion, “Dynamic feedback linearization of nonholonomic wheeled mobile robots,” in Proceedings of IEEE International Conference on Robotics and Automation, Nice, France, pp. 2527-2532, May 1992.

[13] K. Watanabe, Y. Shiraishi, S.G. Tzafestas, J. Tang, and T. Fukuda, “Feedback control of an omnidirectional autonomous platform for mobile service robots,” Journal of Intelligent and Robotic Systems, vol. 22, pp. 315-330, 1998.

[14] J.A. Vázquez, M. Velasco-Villa, “Computed –torque control of an omnidirectional mobile robot,” in 4th International Conference on Electrical and Electronics Engineering, Mexico City, Mexico, pp. 274-277, Sept. 2007.

[15] J.A. Vázquez, M. Velasco-Villa, “Path-tracking dynamic model based control of an omnidirectional mobile robot,” in 17th IFAC World Congress, Seoul, Korea, 2008.

[16] S.-H. Chen, J.-C. Juang, and S.-H. Su, “Backstepping control with sum of squares design for omni-directional mobile robots,” in ICROS-SICE International Joint Conference, Fukuoka International Congress Center, Japan, Aug. 2009.

[17] M. Velasco-Villa, H. Rodríguez-Cortés, I. Estrada-Sanchez, H. Sira-Ramírez, and J. A. Vázquez, “Dynamic trajectory-tracking control of an omnidirectional mobile robot based on a passive approach,” in Chapter 15 of Advances in Robot Manipulators, Edited by E. Hall, InTech, April 2010.

[18] M.K. Bugeja, S.G. Fabri, “Multilayer perceptron adaptive dynamic control of mobile robots: experimental validation,” in H. Bruyninckx et al. (Eds.), European Robotics Symposium, Springer-Verlag Berlin Heidelberg, pp. 165-174, 2008.

[19] M.K. Bugeja, S.G. Fabri, “Dual adaptive neurocontrol of mobile robots using the unscented transform: Monte Carlo and experimental validation,” in: K. Madani et al. (Eds.), Computational Intelligence, Springer-Verlag Berlin Heidelberg, pp. 237-250, 2011.

[20] M.W. Spong, S. Hutchinson, and M. Vidyasagar, Robot Modeling and Control, Wiley, New York, 2006.

[21] J.T. Spooner, M. Maggiore, R. Ordóñez, and K. M. Passino, Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques, Wiley, New York, 2002.

[22] L.-X. Wang, A Course in Fuzzy Systems and Control, Prentice-Hall, Upper Saddle River, NJ, 1997.

[23] C.-K. Gau, “Design, gait generation and embedded microcontroller-based single-axis servo controller implementation for a biped walking robot,” Master Thesis, National Chung Hsing University, Taichung, Taiwan, 2007.

Thank you for copying data from http://www.arastirmax.com