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Research Papers

Extended State Observer Based Robust Friction Compensation for Tracking Control of an Omnidirectional Mobile Robot

[+] Author and Article Information
Chao Ren

School of Electrical and Information Engineering,
Tianjin University,
Tianjin 300072, China
e-mail: renchao@tju.edu.cn

Yutong Ding

School of Electrical and Information Engineering,
Tianjin University,
Tianjin 300072, China
e-mail: yutong_ding@tju.edu.cn

Xiaohan Li

School of Electrical and Information Engineering,
Tianjin University,
Tianjin 300072, China
e-mail: 1016203042@tju.edu.cn

Xinshan Zhu

School of Electrical and Information Engineering,
Tianjin University,
Tianjin 300072, China
e-mail: xszhu126@126.com

Shugen Ma

School of Electrical and Information Engineering,
Tianjin University,
Tianjin 300072, China;
Department of Robotics,
Ritsumeikan University,
Shiga 525-8577, Japan
e-mail: shugen.ma@ieee.org

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received October 19, 2018; final manuscript received April 3, 2019; published online May 8, 2019. Assoc. Editor: Xuebo Zhang.

J. Dyn. Sys., Meas., Control 141(10), 101001 (May 08, 2019) (10 pages) Paper No: DS-18-1476; doi: 10.1115/1.4043488 History: Received October 19, 2018; Revised April 03, 2019

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.

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References

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Figures

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Fig. 1

Prototype platform used in the experiments

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Fig. 2

Coordinate frames of the omnidirectional mobile robot

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Fig. 3

Block diagram of the proposed control design

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Fig. 4

Simulation results of estimation performance of ESO

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Fig. 5

Schematic of the experimental setup

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Fig. 6

Tile floor and rubber floor used in experiments: (a) rubber floor and (b) tile floor

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Fig. 7

Experimental results of straight line trajectory on rubber floor: (a) reference trajectory and responses in the xy-plane, (b) tracking performance in the x direction, (c) tracking errors, (d) robot velocity in the x direction, (e) estimated friction forces by ESO, and (f) control input u(t)

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Fig. 8

Experimental results of square trajectory on rubber floor: (a) reference trajectory and responses in the xy-plane, (b) tracking performance in three directions, (c) tracking errors, (d) robot velocities, (e) estimated friction forces by ESO, and (f) control input u(t)

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