This paper presents an extended state observer (ESO) based robust friction compensation scheme for trajectory tracking control of a three-wheeled omnidirectional mobile robot. The proposed approach is practical in implementation, with no friction model required and only three parameters to be tuned. First, a dynamic model with unknown friction forces is given for the robot. Then, the controller is designed, consisting of two parts. One part of the control effort is to compensate the friction effects, which are estimated by ESO without using any friction model. The other part of the control effort is designed based on traditional resolved acceleration control to achieve the trajectory tracking goals. In addition, stability analysis of the designed control system is presented. Extensive simulations and experiments are conducted to validate the proposed control system design in compensating different friction forces.
Issue Section:
Research Papers
References
1.
Song
, J.-B.
, and Byun
, K.-S.
, 2004
, “Design and Control of a Four-Wheeled Omnidirectional Mobile Robot With Steerable Omnidirectional Wheels
,” J. Robot. Syst.
, 21
(4
), pp. 193
–208
.2.
Bona
, B.
, and Indri
, M.
, 2005
, “Friction Compensation in Robotics: An Overview
,” IEEE Conference on Decision and Control
(CDC
), Seville, Spain
, Dec. 12–15
, pp. 4360
–4367
.3.
Williams
, L. R.
, Carter
, B. E.
, Gallina
, P.
, and Rosati
, G.
, 2002
, “Dynamic Model With Slip for Wheeled Omnidirectional Robots
,” IEEE Trans. Robot. Automat.
, 18
(3
), pp. 285
–293
.4.
Watanabe
, K.
, Shiraishi
, Y.
, Tzafestas
, S.
, Tang
, J.
, and Fukuda
, T.
, 1998
, “Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots
,” J. Intell. Robot. Syst.
, 22
(3/4
), pp. 315
–330
.5.
Liu
, Y.
, Zhu
, J. J.
, Willaims
, R. L.
, II., and Wu
, J.
, 2008
, “Omni-Directional Mobile Robot Controller Based on Trajectory Linearization
,” Robot. Auton. Syst.
, 56
(5
), pp. 461
–479
.6.
Huang
, J.-T.
, Hung
, T.
, and Tseng
, M.-L.
, 2015
, “Smooth Switching Robust Adaptive Control for Omnidirectional Mobile Robots
,” IEEE Trans. Control Syst. Technol.
, 23
(5
), pp. 1986
–1993
.7.
Conceicao
, A.
, Moreira
, A.
, and Costa
, P.
, 2009
, “Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots
,” IEEE/ASME Trans. Mechatronics
, 14
(3
), pp. 377
–381
.8.
Barreto S.
, J. C. L.
, Conceicao
, A. G. S.
, Dorea
, C. E. T.
, Martinez
, L.
, and de Pieri
, E. R.
, 2014
, “Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot
,” IEEE/ASME Trans. Mechatronics
, 19
(2
), pp. 467
–476
.9.
Rotondo
, D.
, Puig
, V.
, Nejjari
, F.
, and Romera
, J.
, 2015
, “A Fault-Hiding Approach for the Switching Quasi-Lpv Fault-Tolerant Control of a Four-Wheeled Omnidirectional Mobile Robot
,” IEEE Trans. Ind. Electron
, 62
(6
), pp. 3932
–3944
.10.
Comasolivas
, R.
, Quevedo
, J.
, Escobet
, T.
, Escobet
, A.
, and Romera
, J.
, 2017
, “Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot
,” ASME J. Dyn. Syst., Meas., Control
, 139
(4
), p. 041011
.11.
Kang
, M. S.
, 1998
, “Robust Digital Friction Compensation
,” Control Eng. Pract.
, 6
(3
), pp. 359
–367
.12.
Kostic
, D.
, de Jager
, B.
, Steinbuch
, M.
, and Hensen
, R.
, 2004
, “Modeling and Identification for High-Performance Robot Control: An RRR-Robotic Arm Case Study
,” IEEE Trans. Control Syst. Technol.
, 12
(6
), pp. 904
–919
.13.
Chen
, W.-H.
, Ballance
, D.
, Gawthrop
, P.
, and O'Reilly
, J.
, 2000
, “A Nonlinear Disturbance Observer for Robotic Manipulators
,” IEEE Trans. Ind. Electron.
, 47
(4
), pp. 932
–938
.14.
Armstrong
, B.
, Neevel
, D.
, and Kusik
, T.
, 2001
, “New Results in NPID Control: Tracking, Integral Control, Friction Compensation and Experimental Results
,” IEEE Trans. Control Syst. Technol.
, 9
(2
), pp. 399
–406
.15.
Han
, J.
, 2009
, “From PID to Active Disturbance Rejection Control
,” IEEE Trans. Ind. Electron
, 56
(3
), pp. 900
–906
.16.
Radke
, A.
, and Gao
, Z.
, 2006
, “A Survey of State and Disturbance Observers for Practitioners
,” American Control Conference
(ACC
), Minneapolis, MN
, June 14–16
, pp. 5183
–5188
.17.
Du
, B.
, Wu
, S.
, Han
, S.
, and Cui
, S.
, 2016
, “Application of Linear Active Disturbance Rejection Controller for Sensorless Control of Internal Permanent-Magnet Synchronous Motor
,” IEEE Trans. Ind. Electron
, 63
(5
), pp. 3019
–3027
.18.
Li
, H.
, Zheng
, S.
, and Ning
, X.
, 2017
, “Precise Control for Gimbal System of Double Gimbal Control Moment Gyro Based on Cascade Extended State Observer
,” IEEE Trans. Ind. Electron.
, 64
(6
), pp. 4653
–4661
.19.
Liu
, C.
, Liu
, G.
, and Fang
, J.
, 2017
, “Feedback Linearization and Extended State Observer-Based Control for Rotor-Ambs System With Mismatched Uncertainties
,” IEEE Trans. Ind. Electron.
, 64
(2
), pp. 1313
–1322
.20.
Liu
, J.
, Vazquez
, S.
, Wu
, L.
, Marquez
, A.
, Gao
, H.
, and Franquelo
, L. G.
, 2017
, “Extended State Observer-Based Sliding-Mode Control for Three-Phase Power Converters
,” IEEE Trans. Ind. Electron.
, 64
(1
), pp. 22
–31
.21.
Wang
, B.
, Xu
, Y.
, Shen
, Z.
, Zou
, J.
, Li
, C.
, and Liu
, H.
, 2017
, “Current Control of Grid-Connected Inverter With LCL Filter Based on Extended-State Observer Estimations Using Single Sensor and Achieving Improved Robust Observation Dynamics
,” IEEE Trans. Ind. Electron.
, 64
(7
), pp. 5428
–5439
.22.
Cui
, R.
, Chen
, L.
, Yang
, C.
, and Chen
, M.
, 2017
, “Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
,” IEEE Trans. Ind. Electron
, 64
(8
), pp. 6785
–6795
.23.
Ren
, C.
, and Ma
, S.
, 2016
, “Trajectory Tracking Control of an Omnidirectional Mobile Robot With Friction Compensation
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), Daejeon, South Korea
, Oct. 9–14
, pp. 5361
–5366
.24.
Ma
, S.
, Ren
, C.
, and Ye
, C.
, 2012
, “An Omnidirectional Mobile Robot: Concept and Analysis
,” IEEE International Conference on Robotics and Biomimetics
(ROBIO
), Guangzhou, China
, Dec. 11–14
, pp. 920
–925
. 25.
Ren
, C.
, and Ma
, S.
, 2013
, “Dynamic Modeling and Analysis of an Omnidirectional Mobile Robot
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS
), Tokyo, Japan
, Nov. 3–7
, pp. 4860
–4865
.26.
Olsson
, H.
, Åström
, K.
, de Wit
, C. C.
, Gäfvert
, M.
, and Lischinsky
, P.
, 1998
, “Friction Models and Friction Compensation
,” Eur. J. Control
, 4
(3
), pp. 176
–195
.27.
Gao
, Z.
, 2003
, “Scaling and Bandwidth-Parameterization Based Controller Tuning
,” American Control Conference
(ACC
), Denver, CO
, June 4–6
, pp. 4989
–4996
.https://ieeexplore.ieee.org/document/124251628.
Zheng
, Q.
, Chen
, Z.
, and Gao
, Z.
, 2009
, “A Practical Approach to Disturbance Decoupling Control
,” Control Eng. Pract.
, 17
(9
), pp. 1016
–1025
.29.
Chung
, Y.
, Park
, C.
, and Harashima
, F.
, 2001
, “A Position Control Differential Drive Wheeled Mobile Robot
,” IEEE Trans. Ind. Electron.
, 48
(4
), pp. 853
–863
.30.
Yang
, S. X.
, Zhu
, A.
, Yuan
, G.
, and Meng
, M.-H.
, 2012
, “A Bioinspired Neurodynamics-Based Approach to Tracking Control of Mobile Robots
,” IEEE Trans. Ind. Electron.
, 59
(8
), pp. 3211
–3220
.Copyright © 2019 by ASME
You do not currently have access to this content.
