Motion control of an omnidirectional mobile platfo

Authors: Nguyen Hung Tuan Dinh Viet Jae Sung Im Hak Kyeong Kim Sang Bong Kim

Publish Date: 2011/01/08

Volume: 8, Issue: 6, Pages: 1221-1231

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Abstract

In this paper a new tracking controller that integrates a kinematic controller KC with an integral sliding mode dynamic controller ISMC is designed for an omnidirectional mobile platform OMP to track a desired trajectory at a desired velocity First a posture tracking error vector is defined and a kinematic controller KC is chosen to make the posture tracking error vector convergent to zero asymptotically Second an integral sliding surface vector is defined based on the angular velocity tracking error vector and its integral term An integral sliding mode dynamic controller ISMC is designed to make the integral sliding surface vector and the angular velocity tracking error vector convergent to zero asymptotically The above controllers are obtained based on the Lyapunov stability theory To implement the designed tracking controller a control system is developed based on PIC18F452 A scheme for measuring the posture tracking error vector using a camera sensor combined with an angular sensor is introduced The simulation and experimental results are presented to illustrate the effectiveness and applicability of the proposed tracking controllerNguyen Hung was born in Vietnam on December 1st 1977 He received his BS and MS degrees from the Faculty of Electrical and Electronics Engineering Hochiminh City University of Technology Vietnam in 2000 and 2004 respectively He then received his PhD degree from the Dept of Mechanical Engineering Pukyong National University Busan Korea in 2/2010 Since then he has been a lecturer at the Faculty of Mechanical — Electrical — Electronic University of Technology Hochiminh City Vietnam His fields of interests are robust control and mobile robot controlTuan Dinh Viet was born in Vietnam on July 14 1972 He received his BS degree from the Faculty of Computer Science Hochiminh City Open University Vietnam in 1997 He received his MS degree from the Faculty of Information Technology College of Engineering University of Danang Vietnam in 2008 He is currently a PhD student at the Dept of Mechanical and Automotive Engineering Pukyong National University Busan Korea His fields of interest are computer science robust control and mobile robot controlJaeSung Im was born in Busan Korea in 1978 He received his BS and MS degrees in Mechanical Engineering from Pukyong National University Korea in 2003 and 2005 respectively He then received his PhD degree from Kumamoto University Japan in 2009 His interests are vehicle dynamics robust control fault detection and isolation and manmachine interfaceHak Kyeong Kim was born in Korea on November 11 1958 He received his BS and MS degrees from the Dept of Mechanical Engineering at Pusan National University Korea in 1983 and 1985 respectively He received his PhD degree from the Dept of Mechatronics Engineering Pukyong National University Pusan Korea in February 2002 His fields of interest are robust control biomechanical control mobile robot control and image processing controlSang Bong Kim was born in Korea on August 6 1955 He received his BS and MS degrees from National Fisheries University of Pusan Korea in 1978 and 1980 respectively He received his PhD degree from Tokyo Institute of Technology Japan in 1988 Since then he has been a Professor of the Dept of Mechanical and Automotive Engineering Pukyong National University Pusan Korea His research has been on robust control biomechanical control and mobile robot control

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