Adaptive control for omnidirectional wheeled robot

摘要

An important characteristic of the omnidirectional robot is that it can move in all directions and does not require large space to turn. There are numerous applications of omniwheeled robots, for eg. to carry load or objects in indoor environments, omnidirectional wheelchair for medical care and assistance, navigation in tight spaces such as industrial warehouses and omnidirectional walker for rehabilitation. In most of the mentioned example cases, parameters such as load and center-of-gravity affects the system thereby decreasing the control performance. Therefore, the dynamic modeling of an omnidirectional robot considering load change, center-of-gravity shifts and frictional force is primarily considered in this study and an adaptive control method is proposed to address the issue. In addition, we tested the stability of the system for long distance run. From the results, the proposed system was found to perform better than the traditional PI (Proportional-Integral) controller.