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Passivity-based control of an omnidirectional mobile robot
This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is ana...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer Berlin Heidelberg
2016
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4937087/ https://www.ncbi.nlm.nih.gov/pubmed/27446772 http://dx.doi.org/10.1186/s40638-016-0037-z |
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author | Ren, Chao Sun, Yi Ma, Shugen |
author_facet | Ren, Chao Sun, Yi Ma, Shugen |
author_sort | Ren, Chao |
collection | PubMed |
description | This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is analyzed. Then the control system is designed based on the energy shaping plus damping approach. We find that the prototype robot itself has enough damping forces. As a result, only energy shaping is needed in our proposed controller, while the damping injection is unnecessary for our robot. In other words, the disadvantages of differential feedback, such as amplifying the measurement noise, can be avoided. Globally asymptotic stability is guaranteed. Both simulations and experimental results show the effectiveness of the proposed control design. |
format | Online Article Text |
id | pubmed-4937087 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2016 |
publisher | Springer Berlin Heidelberg |
record_format | MEDLINE/PubMed |
spelling | pubmed-49370872016-07-19 Passivity-based control of an omnidirectional mobile robot Ren, Chao Sun, Yi Ma, Shugen Robotics Biomim Research This paper studies passivity-based trajectory tracking control of an omnidirectional mobile robot. The proposed control design is simple to be implemented in practice, because of an effective exploitation of the structure of robot dynamics. First, the passivity property of the prototype robot is analyzed. Then the control system is designed based on the energy shaping plus damping approach. We find that the prototype robot itself has enough damping forces. As a result, only energy shaping is needed in our proposed controller, while the damping injection is unnecessary for our robot. In other words, the disadvantages of differential feedback, such as amplifying the measurement noise, can be avoided. Globally asymptotic stability is guaranteed. Both simulations and experimental results show the effectiveness of the proposed control design. Springer Berlin Heidelberg 2016-07-07 2016 /pmc/articles/PMC4937087/ /pubmed/27446772 http://dx.doi.org/10.1186/s40638-016-0037-z Text en © Ren et al 2016 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. |
spellingShingle | Research Ren, Chao Sun, Yi Ma, Shugen Passivity-based control of an omnidirectional mobile robot |
title | Passivity-based control of an omnidirectional mobile robot |
title_full | Passivity-based control of an omnidirectional mobile robot |
title_fullStr | Passivity-based control of an omnidirectional mobile robot |
title_full_unstemmed | Passivity-based control of an omnidirectional mobile robot |
title_short | Passivity-based control of an omnidirectional mobile robot |
title_sort | passivity-based control of an omnidirectional mobile robot |
topic | Research |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4937087/ https://www.ncbi.nlm.nih.gov/pubmed/27446772 http://dx.doi.org/10.1186/s40638-016-0037-z |
work_keys_str_mv | AT renchao passivitybasedcontrolofanomnidirectionalmobilerobot AT sunyi passivitybasedcontrolofanomnidirectionalmobilerobot AT mashugen passivitybasedcontrolofanomnidirectionalmobilerobot |