Passivity-based model free control of an omnidirectional mobile robot

Chao Ren, Shugen Ma
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引用次数: 5

Abstract

This paper presents a passivity-based trajectory tracking controller for an omnidirectional mobile robot, based on a modified generalized proportional integral observer. In contrast to traditional feedback linearization methods, the design objective of our approach is to design a controller such that the passivity property of the robot is preserved in the closed-loop system. The resulting control system could be very attractive from a practical point of view, since the inertia matrix and coriolis matrix of the robot dynamic model are not required. The robot geometrical information is the only required model information, which can be easily obtained in practical applications. Moreover, only position measurements are used. In addition, the closed-loop stability property is analyzed. Comparisons with traditional PID control have been conducted through simulations to show the effectiveness of the proposed control approach.
基于被动的全向移动机器人无模型控制
提出了一种基于改进广义比例积分观测器的全向移动机器人无源轨迹跟踪控制器。与传统的反馈线性化方法相比,该方法的设计目标是设计一种在闭环系统中保持机器人无源特性的控制器。由于不需要机器人动力学模型的惯性矩阵和科里奥利矩阵,因此从实用的角度来看,所得到的控制系统可能非常有吸引力。机器人几何信息是唯一需要的模型信息,在实际应用中容易获得。此外,仅使用位置测量。此外,还分析了系统的闭环稳定性。通过仿真与传统PID控制进行了比较,证明了所提控制方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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