Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 4, Pages 11641-11648Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3204815
Keywords
Conditional disturbance negation; disturbance observer; motion control; wheeled robots
Categories
Funding
- National Natural Science Foundation of China [62073235]
Ask authors/readers for more resources
This letter presents a conditional disturbance negation (CDN) control scheme for an omnidirectional mobile robot based on energy balance. The forces imposed on the robot are analyzed and classified, with the exploitation of the beneficial forces. A judgment function is designed to determine whether the disturbance is beneficial, allowing selective compensation. Convergence of the proposed control system is analyzed. Simulations and experimental results show that the proposed control scheme achieves better performance when disturbances contain beneficial parts.
Disturbances widely exist in all control systems. Disturbance observers are commonly employed to estimate the disturbances which are often fully compensated in the control signal. However, one rarely recognized fact is that disturbances may be beneficial to the control performances and thus can be effectively exploited. In this letter, from an energy balance point, a conditional disturbance negation (CDN) control scheme is designed for an omnidirectional mobile robot, yielding a physically interpretable design. By energy analysis, the forces imposed on the robot are classified into workless force, internal damping force, and lumped disturbance force, wherein the later two are effectively exploited. A judgment function is designed to determine whether the disturbance is beneficial to the control performance, allowing the controller to selectively compensate the estimated disturbances. Convergence of the proposed control system is analyzed. Finally, both simulations and experimental results show that the proposed control scheme can achieve better performance against conventional full disturbance compensation control scheme, if' the disturbances contain beneficial parts.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available