Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots

[+] Author and Article Information
Xiaorui Zhu, Sungyong Park

Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah 84112

Mark A. Minor

Department of Mechanical Engineering, University of Utah, Salt Lake City, Utah 84112minor@mech.utah.edu

J. Dyn. Sys., Meas., Control 128(3), 489-498 (Jan 13, 2006) (10 pages) doi:10.1115/1.2229254 History: Received December 14, 2004; Revised January 13, 2006

A distributed robust controller for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. In this research, a distributed nonlinear damping controller using backstepping techniques for wheel-torque control is first developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors; especially highly nonlinear frame forces caused by axle interaction. In particular, the controller considers time-varying reference velocities and allows the robot to perform posture regulation, path following, or general trajectory tracking. A two-axle scout CFMMR configuration is used to evaluate the controller. Simulation and experimental results verify robust dynamic motion control of path following.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Two-axle CFMMR experimental configuration

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Figure 2

The ith axle module kinematics

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Figure 3

General configuration of a two-axle CFMMR

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Figure 4

The general configuration of single-finite-element of the compliant frame module

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Figure 5

A motion and dynamic control structure of the CFMMR

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Figure 6

Experimental posture data for path following, where solid lines represent the desired position and dashed lines represent the experimentally determined position

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Figure 7

Experimental position errors of each axle and reference velocity of middle point O while line path following according to odometric data

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Figure 8

Experimental path following results without beam force compensation according to odometric data

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Figure 9

Snapshots of line path following without beam compensation

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Figure 10

Experimental and simulation results illustrating torque saturation of the front left wheel while line path following



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