Volume 35 Issue 1
Sep.  2022
Turn off MathJax
Article Contents
YANG Lingyao, ZHANG Aihua, XU Jinlong, ZHANG Zhongjie. Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 23-30. doi: 10.12299/jsues.21-0195
Citation: YANG Lingyao, ZHANG Aihua, XU Jinlong, ZHANG Zhongjie. Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 23-30. doi: 10.12299/jsues.21-0195

Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law

doi: 10.12299/jsues.21-0195
  • Received Date: 2021-09-23
  • Accepted Date: 2021-12-02
  • Publish Date: 2022-09-26
  • Aiming at problems of slow convergence and long time consuming in trajectory tracking, and chattering problem exists in the control of Mecanum wheel omnidirectional mobile robot based on general sliding mode, a sliding mode control method was proposed to realize the rapid convergence of the system by using the multi power reaching law. The position change of three degrees of freedom of robot was realized by controlling the angular velocity of four Mecanum wheels, and the control of three inputs and four outputs was completed. According to the mathematical model established, the multi power reaching law was used to adjust the convergence speed at different stages of the system approaching sliding mode surface, and the hyperbolic tangent function was used to replace the sign function in the reaching law to improve the chattering problem. The stability of the three inputs and four outputs control system was proved by Lyapunov theory. Finally, the control effect of the proposed algorithm was illustrated by simulation and comparison analysis.

  • loading
  • [1]
    TLALE N , DE VILLIERS M. Kinematics and dynamics modelling of a Mecanum wheeled mobile platform[C]// Proceedings of International Conference on Mechatronics & Machine Vision in Practice. Auckland: IEEE, 2009: 657-662.
    [2]
    方玉发. 基于麦克纳姆轮的重载AGV关键技术研究与应用[D]. 杭州: 浙江大学, 2019.
    [3]
    黄群军, 谢志江. 改进A*算法的麦克纳姆轮AGV路径规划[J/OL]. 机械科学与技术: 1-7[2021-06-16]. https://doi.org/10.13433/j.cnki.1003-8728.20200189.
    [4]
    HOU L F, ZHOU F Y, KIM K, et al. Practical model for energy consumption analysis of omnidirectional mobile robot[J] . Sensors,2021,21(5):1800 − 1812. doi: 10.3390/s21051800
    [5]
    ALAKSHENDRA V, CHIDDARWAR S S. Adaptive robust control of Mecanum-wheeled mobile robot with uncertainties[J] . Nonlinear Dynamics,2017,87(4):2147 − 2169. doi: 10.1007/s11071-016-3179-1
    [6]
    MUIR P F . Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot[M]//COX I J, WILFONG G T. Autonomous robot vehicles. New York: Springer, 1987: 25−31.
    [7]
    SUN Z, XIE H, ZHENG J C, et al. Path-following control of Mecanum-wheels omnidirectional mobile robots using nonsingular terminal sliding mode[J] . Mechanical Systems and Signal Processing,2021, 147:107128.
    [8]
    MALAYJERDI E , KALANI H , MALAYJERDI M . Self-tuning fuzzy pid control of a four-mecanum wheel omni-directional mobile platform[C]// Proceedings of the 26th Iranian Conference on Electrical Engineering (ICEE). Mashan: Sadjad University, 2018: 816-820.
    [9]
    TSAI C C, TAI F C , LEE Y R . Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots[C]// Proceedings of the 8th World Congress on Intelligent Control and Automation. Taipei: IEEE, 2011: 546-551.
    [10]
    王勃, 王天擎, 于泳, 等. 感应电机电流环非线性积分滑模控制策略[J]. 电工技术学报, 2021(10): 2039-2048
    [11]
    QIAO Z W, SHI T N, WANG Y D, et al. New sliding-mode observer for position sensorless control of permanent-magnet synchronous motor[J] . IEEE Transactions on Industrial Electronics,2013,60(2):710 − 719. doi: 10.1109/TIE.2012.2206359
    [12]
    吕德刚, 李子豪. 表贴式永磁同步电机改进滑模观测器控制[J]. 电机与控制学报, 2021(10): 58-66.
    [13]
    张瑶, 马广富, 郭延宁, 等. 一种多幂次滑模趋近律设计与分析[J] . 自动化学报,2016,42(3):466 − 472.
    [14]
    YUAN Z Y, TIAN Y X, YIN Y F, et al. Trajectory tracking control of a four Mecanum wheeled mobile platform: An extended state observer-based sliding mode approach[J] . IET Control Theory and Applications,2019,14(3):415 − 426.
    [15]
    王明明, 朱莹莹, 张磊, 等. 麦克纳姆轮驱动的移动机器人自适应滑模控制器设计[J] . 西北工业大学学报,2018,36(4):627 − 635. doi: 10.3969/j.issn.1000-2758.2018.04.004
    [16]
    张星. 基于麦克纳姆轮的全向AGV运动控制技术研究[D]. 重庆: 重庆大学, 2016.
    [17]
    SLOTINE J , LI W P . Applied nonlinear control[M]. Shanghai: China Machine Press, 1991.
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(8)  / Tables(1)

    Article Metrics

    Article views (260) PDF downloads(52) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return