Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content

Advertisement

Springer Nature Link
Log in

Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Aicardi, M., Caslino, G., Bicchi, A., Balestrino, A.: Closed loop steering of unicycle-like vehicles via Lyapunov techniques. IEEE Robot. Autom. Mag. 2, (1), 27–35 (1995)

    Article  Google Scholar 

  2. Behal, A., Dawson, D.M., Dixon, W.E., Fang, Y.: Robust tracking and regulation control for mobile robots. IEEE Proc. Conf. Control Appl, Kohala Coast-Island of Hawai’i, Hawai’i, USA, August 22–27, 1015–1020 (1999)

  3. Carter, B., Good, M., Dorohoff, M., Lew, J., Williams, R.L., Gallina, P.: Mechanical design and modeling of an omni-directional robocup player. Proceedings of RoboCup 2001 International Symposium, Seattle, WA, USA, August, (2001)

  4. Chwa, D.K.: Sliding mode tracking control of nonholonomic wheeled mobile robots in polar coordinates. IEEE Trans. Control Syst. Technol. 12, (4), 637–644 (2004)

    Article  MathSciNet  Google Scholar 

  5. Dixon, W.E., Dawson, D.M., Zergeroglu, E., Zhang, F.: Robust tracking and regulation control for mobile robots. Int. J. Robust Nonlinear Control. 10, 199–216 (2000)

    Article  MATH  MathSciNet  Google Scholar 

  6. Do, K.D., Jiang, Z.P., Pan, J.: A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots. IEEE Trans. Robot Autom. 20, (3), 589–594 (2004)

    Article  Google Scholar 

  7. Do, K.D., Jiang, Z.P., Pan, J.: Simultaneous tracking and stabilization of mobile robots: an adaptive approach. IEEE Trans. Automat. Contr. 49, (7), 1147–1151 (2004)

    Article  MathSciNet  Google Scholar 

  8. Driessen, B.J.: Adaptive global tracking for robots with unknown link and actuator dynamics. Int. J. Adapt. Control Signal Process. 20, 123–38 (2006)

    Article  MATH  MathSciNet  Google Scholar 

  9. Jiang, Z.P., Nijmeijer, H.: Tracking control of mobile robots: a case study in backstepping. Automatica. 33, 1393–1399 (1997)

    Article  MATH  MathSciNet  Google Scholar 

  10. Jiang, Z.P., Nijmeijer, H.: A recursive technique for tracking control of nonholonomic systems in chained form. IEEE Trans. Automat. Contr. 44, 265–279 (1999)

    Article  MATH  MathSciNet  Google Scholar 

  11. Jung, M.J., Kim, H.S., Kim, S., Kim, J.H.: Omni-directional mobile base OK-II. Proceeding of the IEEE Int. Conf. Robot. Autom. 3449–3454 (2000)

  12. Kalmár-Nagy, T., D’andrea, R., Ganguly, P.: Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle.. Robot. Autono. Syst. 46, 47–64 (2004)

    Article  Google Scholar 

  13. Khalil, H.K.: Nonlinear Systems, 3rd Ed.rd edn. Prentice Hall, Upper Saddle, NJ (2002)

    MATH  Google Scholar 

  14. Lee, T.C., Song, K.T., Lee, C.H., Teng, C.C.: Tracking control of unicycle-modeled mobile robots using a saturation feedback controller. IEEE Trans. Control Syst. Technol. 9, 305–318 (2001)

    Article  Google Scholar 

  15. Park, K., Chung, H., Lee, J.G.: Point stabilization of mobile robots via state-space exact feedback linearization. Robot. Comp.-Integr. Manuf. 16, (5), 353–363 (2000)

    Article  Google Scholar 

  16. Pin, F.G., Killough, S.M.: A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans. Robot Autom 10, (4), 480–489 (1994)

    Article  Google Scholar 

  17. Red, E.: A dynamic optimal trajectory generator for Cartesian path following. Robotica. 18, 451–458 (2000)

    Article  Google Scholar 

  18. Tsai, C.C., Wang, T.S.: Nonlinear control of an omnidirectional mobile robot. Proc. 8th Intl. Conf. Autom Technol. 727–732 (2005)

  19. Watanabe, K., Shiraishi, Y., Tzafestas, S., Tang, J., Fukuda, T.: Feedback control of an omnidirectional autonomous platform for mobile service robots. J. Intell. Robot. Syst. 22, 315–330 (1998)

    Article  Google Scholar 

  20. Williams II, R.L., Carter, B.E., Gallina, P., Rosati, G.: Dynamic model with slip for wheeled omnidirectional robots. IEEE Trans. Robot. Autom. 18, (3), 285–293 (2002)

    Article  Google Scholar 

  21. Wu, C.J., Tsai, C.C.: Localization of an autonomous mobile robot based on ultrasonic sensory information. J. Intell. Robot. Syst. 30, 267–277 (2001)

    Article  MATH  Google Scholar 

  22. Yang, J.M., Kim, J.H.: Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots. IEEE Trans. Robot. Automa. 15, (3), 578–587 (1999)

    Article  Google Scholar 

  23. Yang, Z., Red, E.: On-line Cartesian trajectory control of mechanism along complex curves. Robotica. 15, 263–274 (1997)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung, 402, Taiwan

    Hsu-Chih Huang & Ching-Chih Tsai

Authors
  1. Hsu-Chih Huang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ching-Chih Tsai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ching-Chih Tsai.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Huang, HC., Tsai, CC. Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates. J Intell Robot Syst 51, 439–460 (2008). https://doi.org/10.1007/s10846-007-9196-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-007-9196-z

Keywords

Search

Navigation