Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates |
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Authors: | Hsu-Chih Huang Ching-Chih Tsai |
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Affiliation: | (1) Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung, 402, Taiwan |
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Abstract: | This paper presents an adaptive robust control method for trajectory tracking and path following of an omni-directional wheeled
mobile platform with actuators’ uncertainties. The polar-space kinematic model of the platform with three independent driving
omnidirectional wheels equally spaced at 120 from one another is briefly introduced, and the dynamic models of the three
uncertain servomotors mounted on the driving wheels are also described. With the platform’s kinematic model and the motors’
dynamic model associated two unknown parameters, the adaptive robust controller is synthesized via the integral backstepping
approach. Computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed
control method in comparison with a conventional PI feedback control method. |
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Keywords: | Adaptive control Backstepping Omnidirectional mobile platform Robust control |
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