TY - GEN
T1 - Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform
AU - Zhang, Huimin
AU - Ma, Yue
AU - Cho, Koanhee
N1 - Publisher Copyright:
© 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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
UR - http://www.scopus.com/inward/record.url?scp=85092748865&partnerID=8YFLogxK
U2 - 10.1007/978-981-15-8458-9_61
DO - 10.1007/978-981-15-8458-9_61
M3 - Conference contribution
AN - SCOPUS:85092748865
SN - 9789811584572
T3 - Lecture Notes in Electrical Engineering
SP - 571
EP - 583
BT - Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II
A2 - Jia, Yingmin
A2 - Zhang, Weicun
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 -