Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform

Huimin Zhang; Yue Ma; Koanhee Cho

doi:10.1007/978-981-15-8458-9_61

Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform

Huimin Zhang, Yue Ma^*, Koanhee Cho

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Compared with traditional wheeled robots, omnidirectional mobile robots can achieve movement in any direction without changing the posture and have a center steering function, which is flexible and maneuverable. In order to solve the problem that the trajectory tracking effect is poor when there are uncertain parameters and unknown disturbances in the motion control of traditional omnidirectional mobile robots, this paper takes a four-wheel omnidirectional mobile platform as the research object and establishes its kinematic model. The motion control method based on sliding mode variable structure control is proposed and the trajectory tracking controller is designed. The simulation results show that the controller effectively improves the trajectory tracking accuracy during the movement of the omnidirectional mobile platform.

Original language	English
Title of host publication	Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II
Editors	Yingmin Jia, Weicun Zhang, Yongling Fu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	571-583
Number of pages	13
ISBN (Print)	9789811584572
DOIs	https://doi.org/10.1007/978-981-15-8458-9_61
Publication status	Published - 2021
Event	Chinese Intelligent Systems Conference, CISC 2020 - Shenzhen, China Duration: 24 Oct 2020 → 25 Oct 2020

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	706 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	Chinese Intelligent Systems Conference, CISC 2020
Country/Territory	China
City	Shenzhen
Period	24/10/20 → 25/10/20

Keywords

Kinematic model
Omnidirectional movement
Sliding mode control

Access to Document

10.1007/978-981-15-8458-9_61

Cite this

Zhang, H., Ma, Y., & Cho, K. (2021). Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform. In Y. Jia, W. Zhang, & Y. Fu (Eds.), Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II (pp. 571-583). (Lecture Notes in Electrical Engineering; Vol. 706 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-15-8458-9_61

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title = "Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform",

abstract = "Compared with traditional wheeled robots, omnidirectional mobile robots can achieve movement in any direction without changing the posture and have a center steering function, which is flexible and maneuverable. In order to solve the problem that the trajectory tracking effect is poor when there are uncertain parameters and unknown disturbances in the motion control of traditional omnidirectional mobile robots, this paper takes a four-wheel omnidirectional mobile platform as the research object and establishes its kinematic model. The motion control method based on sliding mode variable structure control is proposed and the trajectory tracking controller is designed. The simulation results show that the controller effectively improves the trajectory tracking accuracy during the movement of the omnidirectional mobile platform.",

keywords = "Kinematic model, Omnidirectional movement, Sliding mode control",

author = "Huimin Zhang and Yue Ma and Koanhee Cho",

note = "Publisher Copyright: {\textcopyright} 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2020 ; Conference date: 24-10-2020 Through 25-10-2020",

year = "2021",

doi = "10.1007/978-981-15-8458-9_61",

language = "English",

isbn = "9789811584572",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

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Zhang, H, Ma, Y & Cho, K 2021, Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform. in Y Jia, W Zhang & Y Fu (eds), Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II. Lecture Notes in Electrical Engineering, vol. 706 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 571-583, Chinese Intelligent Systems Conference, CISC 2020, Shenzhen, China, 24/10/20. https://doi.org/10.1007/978-981-15-8458-9_61

Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform. / Zhang, Huimin; Ma, Yue; Cho, Koanhee.
Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II. ed. / Yingmin Jia; Weicun Zhang; Yongling Fu. Springer Science and Business Media Deutschland GmbH, 2021. p. 571-583 (Lecture Notes in Electrical Engineering; Vol. 706 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform

AU - Zhang, Huimin

AU - Ma, Yue

AU - Cho, Koanhee

PY - 2021

Y1 - 2021

N2 - Compared with traditional wheeled robots, omnidirectional mobile robots can achieve movement in any direction without changing the posture and have a center steering function, which is flexible and maneuverable. In order to solve the problem that the trajectory tracking effect is poor when there are uncertain parameters and unknown disturbances in the motion control of traditional omnidirectional mobile robots, this paper takes a four-wheel omnidirectional mobile platform as the research object and establishes its kinematic model. The motion control method based on sliding mode variable structure control is proposed and the trajectory tracking controller is designed. The simulation results show that the controller effectively improves the trajectory tracking accuracy during the movement of the omnidirectional mobile platform.

AB - Compared with traditional wheeled robots, omnidirectional mobile robots can achieve movement in any direction without changing the posture and have a center steering function, which is flexible and maneuverable. In order to solve the problem that the trajectory tracking effect is poor when there are uncertain parameters and unknown disturbances in the motion control of traditional omnidirectional mobile robots, this paper takes a four-wheel omnidirectional mobile platform as the research object and establishes its kinematic model. The motion control method based on sliding mode variable structure control is proposed and the trajectory tracking controller is designed. The simulation results show that the controller effectively improves the trajectory tracking accuracy during the movement of the omnidirectional mobile platform.

KW - Kinematic model

KW - Omnidirectional movement

KW - Sliding mode control

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DO - 10.1007/978-981-15-8458-9_61

M3 - Conference contribution

AN - SCOPUS:85092748865

SN - 9789811584572

T3 - Lecture Notes in Electrical Engineering

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BT - Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II

A2 - Jia, Yingmin

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A2 - Fu, Yongling

PB - Springer Science and Business Media Deutschland GmbH

T2 - Chinese Intelligent Systems Conference, CISC 2020

Y2 - 24 October 2020 through 25 October 2020

ER -

Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform

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