Structure Design and Event-Triggered Control of a Modular Omnidirectional Mobile Chassis of Life Support Robotics

摘要

This paper addresses the problems of structure design and trajectory tracking control of a mobile chassis of life support robots. First, a novel omnidirectional mobile chassis structure is proposed, which consists of three pairs of modular wheel sets with independent drive and steering capability. This allows robots to possess omnidirectional mobility and structural reliability. Then, the trajectory tracking control law is established by combining kinematics analysis and Lyapunov theory. Furthermore, considering the requirement of life support robots to be used under network control, this paper proposes an event-triggered trajectory tracking control scheme to improve the utilization efficiency of communication resources. Finally, the effectiveness of the omnidirectional mobile chassis and the event-triggered control law designed in this paper are demonstrated by numerical simulation results.