Research Papers

Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot

[+] Author and Article Information
Ramon Comasolivas

Department of Automatic Control,
Center for Supervision, Safety, and
Automatic Control,
Technical University of Catalonia,
Terrassa 08222, Spain
e-mail: ramon.comasolivas@upc.edu

Joseba Quevedo

Department of Automatic Control,
Center for Supervision, Safety, and
Automatic Control,
Technical University of Catalonia,
Terrassa 08222, Spain
e-mail: joseba.quevedo@upc.edu

Teresa Escobet

Department of Mining, Industrial,
and ICT Engineering,
Center for Supervision, Safety, and
Automatic Control,
Technical University of Catalonia,
Manresa 08240, Spain
e-mail: teresa.escobet@upc.edu

Antoni Escobet

Department of Mining, Industrial
and ICT Engineering,
Technical University of Catalonia,
Manresa 08240, Spain
e-mail: antoni.escobet@upc.edu

Juli Romera

Center for Supervision, Safety, and
Automatic Control,
Technical University of Catalonia,
Terrassa 08222, Spain
e-mail: juli.romera@upc.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 17, 2016; final manuscript received October 18, 2016; published online February 9, 2017. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 139(4), 041011 (Feb 09, 2017) (9 pages) Paper No: DS-16-1251; doi: 10.1115/1.4035089 History: Received May 17, 2016; Revised October 18, 2016

This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.

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Fig. 1

The computer-aided design (CAD) model of iSRob platform (left) and its parts (right)

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Fig. 2

Omnidirectional robot geometry

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Fig. 3

Identification of iSRob. (a) Reference speed, υ1,r. (b) Armature voltage, u1, and (c) linear speed, υ1.

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Fig. 4

Estimated parameters (k,τ) for each individual linear function. Each color and shape correspond to a wheel of the robot.

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Fig. 5

Measured (solid line) and simulated (dash line) model output of one linear system

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Fig. 6

QFT generic control structure

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Fig. 7

Plant templates for the piecewise model

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Fig. 8

Open-loop frequency response with GQFT

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Fig. 9

Closed-loop robust stability margins (top) and closed-loop effort control margin (bottom)

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Fig. 10

A sample view of the first scenario, linear speed (dotted/dashed), and speed reference (solid)

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Fig. 11

iSRob trajectory estimated by odometry in the second scenario

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Fig. 12

Speed control performance of the wheel υ1 in the case of scenario 2

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Fig. 13

Histogram of the wheels speed error of the iSRob in the second scenario

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Fig. 14

iSRob trajectory estimated by odometry in the third scenario using for speed control: (a) GQFT, (b) GSCH, and (c) GINI

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Fig. 15

Histogram of the wheels speed error of the iSRob in the third scenario



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