Implementation of the Motion Controller for an Omni Mobile Robot Using the Trajectory Linearization Control

Vu Hoan Bui; Chi Tuan Duong; Trong Nhan Nguyen; The Cuong Le; Xuan Quang Ngo; Duy Khang Luong; Nhat An Ho; Huy Vu Phung; Tri Manh Vo; Ha Quang Thinh Ngo

Nature of Computation and Communication. 7th EAI International Conference, ICTCC 2021, Virtual Event, October 28–29, 2021, Proceedings

Research Article

Implementation of the Motion Controller for an Omni Mobile Robot Using the Trajectory Linearization Control

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@INPROCEEDINGS{10.1007/978-3-030-92942-8_5,
    author={Vu Hoan Bui and Chi Tuan Duong and Trong Nhan Nguyen and The Cuong Le and Xuan Quang Ngo and Duy Khang Luong and Nhat An Ho and Huy Vu Phung and Tri Manh Vo and Ha Quang Thinh Ngo},
    title={Implementation of the Motion Controller for an Omni Mobile Robot Using the Trajectory Linearization Control},
    proceedings={Nature of Computation and Communication. 7th EAI International Conference, ICTCC 2021, Virtual Event, October 28--29, 2021, Proceedings},
    proceedings_a={ICTCC},
    year={2022},
    month={1},
    keywords={Omni-robot Mobile robot Trajectory linearization control Simulation},
    doi={10.1007/978-3-030-92942-8_5}
}

Vu Hoan Bui
Chi Tuan Duong
Trong Nhan Nguyen
The Cuong Le
Xuan Quang Ngo
Duy Khang Luong
Nhat An Ho
Huy Vu Phung
Tri Manh Vo
Ha Quang Thinh Ngo
Year: 2022
Implementation of the Motion Controller for an Omni Mobile Robot Using the Trajectory Linearization Control
ICTCC
Springer
DOI: 10.1007/978-3-030-92942-8_5

Vu Hoan Bui¹, Chi Tuan Duong¹, Trong Nhan Nguyen¹, The Cuong Le¹, Xuan Quang Ngo¹, Duy Khang Luong¹, Nhat An Ho¹, Huy Vu Phung¹, Tri Manh Vo¹, Ha Quang Thinh Ngo¹^,*

1: Department of Mechatronics Engineering, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10

*Contact email: nhqthinh@hcmut.edu.vn

Abstract

This study introduces the design and modeling of nonlinear controller based on the omni-wheel for mobile robot. Via/Through the dynamics characteristics, the control scheme of Trajectory Linearization Control (TLC) is developed. Furthermore, the proposed controller is simulated in order to verify the effectiveness and feasibility. From the simulation results, the proposed controller achieves superior performance such 20% better tracking error, 10% faster transient period and converge to finite time.

Keywords: Omni-robot Mobile robot Trajectory linearization control Simulation

Published: 2022-01-03
Appears in: SpringerLink

: http://dx.doi.org/10.1007/978-3-030-92942-8_5

Implementation of the Motion Controller for an Omni Mobile Robot Using the Trajectory Linearization Control

Abstract

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