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Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller

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  • Control Applications
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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 controller.

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Authors and Affiliations

  1. Faculty of Mechanical — Electrical — Electronic, University of Technology, Hochiminh City, Vietnam

    Nguyen Hung

  2. Dept. of Mechanical and Automotive Eng., College of Eng., Pukyong National University, Busan, 608-739, Korea

    Tuan Dinh Viet, Jae Sung Im, Hak Kyeong Kim & Sang Bong Kim

Authors
  1. Nguyen Hung
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  2. Tuan Dinh Viet
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  3. Jae Sung Im
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  4. Hak Kyeong Kim
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  5. Sang Bong Kim
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Corresponding author

Correspondence to Sang Bong Kim.

Additional information

Recommended by Editorial Board member Youngjin Choi under the direction of Editor Jae-Bok Song.

Nguyen Hung was born in Vietnam on December 1st, 1977. He received his B.S. and M.S. degrees from the Faculty of Electrical and Electronics Engineering, Hochiminh City University of Technology, Vietnam, in 2000 and 2004, respectively. He then received his Ph.D. 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 control.

Tuan Dinh Viet was born in Vietnam on July 14, 1972. He received his B.S. degree from the Faculty of Computer Science, Hochiminh City Open University, Vietnam, in 1997. He received his M.S. degree from the Faculty of Information Technology, College of Engineering, University of Danang, Vietnam, in 2008. He is currently a Ph.D. 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 control.

Jae-Sung Im was born in Busan, Korea in 1978. He received his B.S. and M.S degrees in Mechanical Engineering from Pukyong National University, Korea, in 2003 and 2005, respectively. He then received his Ph.D. degree from Kumamoto University, Japan, in 2009. His interests are vehicle dynamics, robust control, fault detection and isolation, and manmachine interface.

Hak Kyeong Kim was born in Korea on November 11, 1958. He received his B.S. and M.S. degrees from the Dept. of Mechanical Engineering at Pusan National University, Korea, in 1983 and 1985, respectively. He received his Ph.D. 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 control.

Sang Bong Kim was born in Korea on August 6, 1955. He received his B.S. and M.S. 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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Hung, N., Viet, T.D., Im, J.S. et al. Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller. Int. J. Control Autom. Syst. 8, 1221–1231 (2010). https://doi.org/10.1007/s12555-010-0607-8

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  • DOI: https://doi.org/10.1007/s12555-010-0607-8

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