Decoupling Active Caster Omnidirectional Mobile Robot Tracking Control Considering Slip Interferences

被引：0
|
作者：
Li Y. [1 ,2 ,3 ]
Liu Z. [1 ,2 ,4 ]
Chen Q. [1 ,2 ,3 ]
机构：
[1] Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo
[2] University of Chinese Academy of Science, Beijing
[3] Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology, Ningbo
[4] Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2020年 / 31卷 / 18期
关键词：
Decoupling active caster; Kalman filter; Omnidirectional mobile robot; Slip interference; Trajectory tracking;
D O I：
10.3969/j.issn.1004-132X.2020.18.013
中图分类号：
学科分类号：
摘要：
A trajectory tracking control method was proposed considering the unknown caster slips for the omnidirectional mobile robot systems based on decoupling active casters. Firstly, the kinematics model of the omnidirectional mobile robot including the caster slip was established, and the sliding parameters were estimated by using the redundant information obtained by the additional sensors. Then the trajectory tracking controller was designed according to the backstepping method. Asymptotic stability of the closed-loop system was guaranteed by Lyapunov theorem. The control parameters were determined according to the pole placement method. Simulation and experimental results verify that the control method may make the omnidirectional mobile robot track the set trajectory stably in the complex indoor environments. © 2020, China Mechanical Engineering Magazine Office. All right reserved.
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页码：2247 / 2253
页数：6
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