Nonlinear optimal and multi-loop flatness‐based control of omnidirectional 3-wheel mobile robots

• Autorzy: Rigatos Gerasimos , Abbaszadeh Masoud

Identyfikatory

DOI

10.14313/JAMRIS/4‐2024/29

• Języki publikacji: EN

Abstrakty

EN

In this article, the control problem for omnidirectional 3-wheel autonomous mobile robots is solved with the use of (i) a nonlinear optimal control method (ii) a flatness-based control approach which is implemented in successive loops. To apply method (i) that is nonlinear optimal control, the dynamic model of the omnidirectional 3-wheel autonomous mobile robots undergoes approximate linearization at each sampling instant with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrix. The linearization point is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. To compute the feedback gains of the optimal controller an algebraic Riccati equation is repetitively solved at each time-step of the control algorithm. The global stability properties of the nonlinear optimal control method are proven through Lyapunov analysis. To implement control method (ii), that is flatness-based control in successive loops, the state-space model of the omnidirectional 3-wheel autonomous mobile robot is separated into chained subsystems, which are connected in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the preceding (i-th) subsystem become virtual control inputs for the subsequent (i+1-th) subsystem. In turn, exogenous control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. The proposed method achieves trajectory tracking and autonomous navigation for the omnidirectional 3-wheel autonomous mobile robots without the need of diffeomorphisms and complicated state-space model transformations.

Słowa kluczowe

EN

omnidirectional 3-wheel autonomous mobile robots; autonomous navigation; differential flatness properties; nonlinear optimal control; flatness-based control in successive loops; global stability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2024
• Tom: Vol. 18, No. 4
• Strony: 22--46
• Opis fizyczny: Bibliogr. 40 poz., rys.

Twórcy

autor

Rigatos Gerasimos

• Unit of Industrial Automa‐ tion, Industrial Systems Institute, 26504, Rion Patras, Greece

autor

Abbaszadeh Masoud

• Dept. of ECS Engineering, Rensselaer Polytechnic Institute, 12065, Troy, New York USA

• https://orcid.org/0000-0002-9440-1563

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).