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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
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