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Dynamic modeling and control of omni-directional mobile robots

Publication Type : Conference Paper

Publisher : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT)

Source : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)

Url :

ISBN : 9781509049677

Keywords : Adaptation models, adaptive control, adaptive linearizing control, adaptive sliding mode control, Collision avoidance, control designs, Control singularit, control system synthesis, dynamic environment applications, Dynamic Modeling, holonomic property, Mobile robots, omni directional wheeled robots, omnidirectional mobile robots, parametric uncertainty, Path Planning, path tracking simulation, robot dynamics, robust control, sliding-mode control(SMC), SMC, static obstacle avoidance, system model, uncertain systems, uncertainty, variable structure systems, Wheels

Campus : Amritapuri

School : School of Engineering

Department : Robotics and Automation, Electrical and Electronics

Year : 2017

Abstract : Omni directional wheeled robots have recently gained increasing attention in the mobile robots applications due to their unique feature. They have higher degree of maneuverability and are widely used in dynamic environment applications due to their holonomic property. Approximation of the parametric uncertainties in system model leads to inaccurate model that leads to improper control design. Problems of control designs for omnidirectional mobile robots with parametric uncertainty are addressed. Anadaptive sliding mode control (SMC) is presented. The commonly adopted adaptive linearizing control fails due to control singularity. The presence of parametric uncertainty directs the designed control input to a very large value. This happens when a term in the calculated control input tends to zero. For solving such a problem, a robust control with smooth transition has been presented. Path planning with static obstacle avoidance is also done. Simulation of path tracking and path planning are carried out.

Cite this Research Publication : D. S. Lal and A. Vivek, “Dynamic modeling and control of omni-directional mobile robots”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017

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