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Decentralized Motion Control for Omnidirectional Mobile Platform—Tracking a Trajectory Using PD Fuzzy Controller

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AETA 2015: Recent Advances in Electrical Engineering and Related Sciences

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 371))

Abstract

The development of intelligent mobile robot has become an important and active research topic in the face of emerging markets for autonomous guided vehicle and service mobile robot. In this paper, a new decentralized algorithm for motion control of omnidirectional mobile platform (OMP) with three sets of omnidirectional wheel is introduced. The proposed OMP is a platform with three sets of omnidirectional wheel arranged equally spaced at 120° from one to another. In this decentralized algorithm, the motion of OMP is separated into three independent components of motion expressed in body coordinate frame including rotational moving, horizontal moving and vertical moving. By using omnidirectional wheels, these motion components can be controlled simultaneously as well as separately. The OMP uses a laser-based sensor for recognizing its position and orientation. Based on the proposed decentralized algorithm and OMP’s configuration measured by laser sensor, a trajectory tracking control method using fuzzy logic is applied to control the OMP. The use of fuzzy logic for control law makes the proposed system insensitive to parametric uncertainty, load and parameter fluctuations, while guaranteeing stability. The effectiveness of the proposed system is demonstrated by simulation and experimental results.

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Author information

Authors and Affiliations

  1. Faculty of Mechanical Electrical and Electronic Engineering, Hutech University, Ho Chi Minh City, Vietnam

    Thanh Luan Bui

Authors
  1. Thanh Luan Bui
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Correspondence to Thanh Luan Bui .

Editor information

Editors and Affiliations

  1. Faculty of Electrical and Electronics En, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Vo Hoang Duy

  2. MERLIN, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Tran Trong Dao

  3. Electrical Engineering and Computer Scie, VŠB—Technical University, Ostrava-Poruba, Czech Republic

    Ivan Zelinka

  4. Division of Mechanical, Korea Maritime and Ocean University, Busan, Korea (Republic of)

    Hyeung-Sik Choi

  5. Université de Picardie Jules Verne, Laboratoire MIS, Amiens Cedex 1, France

    Mohammed Chadli

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Bui, T.L. (2016). Decentralized Motion Control for Omnidirectional Mobile Platform—Tracking a Trajectory Using PD Fuzzy Controller. In: Duy, V., Dao, T., Zelinka, I., Choi, HS., Chadli, M. (eds) AETA 2015: Recent Advances in Electrical Engineering and Related Sciences. Lecture Notes in Electrical Engineering, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-27247-4_67

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  • DOI: https://doi.org/10.1007/978-3-319-27247-4_67

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27245-0

  • Online ISBN: 978-3-319-27247-4

  • eBook Packages: EngineeringEngineering (R0)

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