The purpose of this investigation is to suggest and examine a trajectory follower control system for linear discrete dynamic model of omni-directional mobile robots to reach a controller with optimal inputs for drivers. Introducing optimal controllers for multi input-multi output control systems in acceleration and deceleration maneuvers to track a specified path is one of essential subjects for motion study of omni-directional mobile robots. Regulated drivers’ rotational velocities and torques greatly affect the ability of these robots to perform trajectory planner tasks. Moreover, environmental influencing factors shall also be considered in such robot models for accurate path planning. Presented tracking control system in this article provides an optimal solution to minimize differences between reference trajectory and system output in the lately developed simulated model. Trajectory following system together with implemented kinematic and dynamic modeling for an optimal controller to satisfy the path planning prerequisites is mainly discussed in this paper in several sections. Main topics presented and discussed in this article are considerable improvements in simulation of the newly optimized controller by Linear Quadratic Regulator and Tracking. Utilizing the new approach on tracking controller design results in the more precise and appropriate tracking behavior of omni-directional mobile robots as the simulation and experimental results confirm this issue.
Skip Nav Destination
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5480-8
PROCEEDINGS PAPER
Discrete Time Linear Quadratic Tracking Controller for Omni-Directional Mobile Robots Available to Purchase
Ehsan Hashemi,
Ehsan Hashemi
Islamic Azad University, Qazvin Branch, Qazvin, Iran
Search for other works by this author on:
Maani Ghaffari Jadidi
Maani Ghaffari Jadidi
Islamic Azad University, Qazvin Branch, Qazvin, Iran
Search for other works by this author on:
Ehsan Hashemi
Islamic Azad University, Qazvin Branch, Qazvin, Iran
Maani Ghaffari Jadidi
Islamic Azad University, Qazvin Branch, Qazvin, Iran
Paper No:
DETC2011-47354, pp. 419-426; 8 pages
Published Online:
June 12, 2012
Citation
Hashemi, E, & Ghaffari Jadidi, M. "Discrete Time Linear Quadratic Tracking Controller for Omni-Directional Mobile Robots." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 419-426. ASME. https://doi.org/10.1115/DETC2011-47354
Download citation file:
16
Views
Related Proceedings Papers
Related Articles
Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness
J. Comput. Nonlinear Dynam (July,2008)
Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot
Letters Dyn. Sys. Control (October,2022)
Velocity and Acceleration Cones for Kinematic and Dynamic Constraints on Omni-Directional Mobile Robots
J. Dyn. Sys., Meas., Control (December,2006)
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Methods for Mobile Robots Path Planning Based on Co-Located Environment
International Conference on Future Computer and Communication, 3rd (ICFCC 2011)