Hierarchical autonomous switching control of a multi-modes omnidirectional mobile robot

Adequate control flexibility and tracking precision of the omnidirectional mobile robot (OMR) are difficult to be guaranteed with a fixed control mode. To address this challenge, this paper presents a modified hierarchical autonomous switching control scheme for an OMR with multiple maneuver-modes, which is capable of switching the alternative modes to adapt to the operational conditions and performing a satisfactory trajectory tracking control. Utilizing a hierarchical switching signal, the design begins by formulating a hybrid discrete OMR system with multiple subsystems cascading to its alternative kinematic states. Under the integrated system constraints, a new hierarchical switched fractional-order receding horizon control is presented to offer more adjusting flexibilities, which constructs a novel fractional-order cost function and then derives a numerical solvable solution. Meanwhile, with a Lyapunov-principle-based supervisory variable, an autonomous switching law is proposed so that the preferred subsystem can be selected to enhance the moving maneuverability. Under certain average dwell time conditions, the asymptotic stability of the resultant system is guaranteed. Finally, comparative experiments implemented on the real-world scenarios are provided to demonstrate the superior tracking performance and enhanced robustness of the proposed hierarchical autonomous switching control method as compared to traditional control schemes.