한국재료학회지 제28권 제11호 (p.256-264)

임피던스 제어와 적분 슬라이딩 모드 제어를 이용한 메카넘 휠 이동로봇의 강인한 궤도 추적 제어

Robust Trajectory Tracking Control of a Mecanum Wheeled Mobile Robot Using Impedance Control and Integral Sliding Mode Control
키워드 :
Mecanum wheel,Mobile robot,Trajectory tracking,Impedance control,Integral sliding mode control

목차

Abstract
1. 서 론
2. 본 론
  2.1 메카넘 휠 이동로봇의 동역학 모델
  2.2 제어기 설계
  2.3 MATLAB/Simulink 시뮬레이션 및 결과
  2.4 실제 실험 및 결과
3. 결 론
References

초록

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.