This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable for designing an error-feedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows solving this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results. ; This work has been funded by the Spanish MINECO through the project CYCYT SHERECS (ref. DPI2011-26243), by the European Commission through contract i-Sense (ref. FP7-ICT-2009-6-270428), by AGAUR through the contracts FI-DGR 2013 (ref. 2013FIB00218) and FI-DGR 2014 (ref. 2014FI B1 00172) and by the DGR of Generalitat de Catalunya (SAC group Ref. 2014/SGR/374). ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot



    Erscheinungsdatum :

    2015-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot

    Stancu, Alexandru / Codres, Eduard / Puig Cayuela, Vicenç | BASE | 2016

    Freier Zugriff

    Model-predictive undercarriage control for a pseudo-omnidirectional, wheeled mobile robot

    Connette, Christian P. / Hofmeister, Stefan / Bubeck, Alexander et al. | BASE | 2010

    Freier Zugriff

    Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot

    Ye, Changlong / Zhang, Jianhui / Yu, Suyang et al. | British Library Conference Proceedings | 2019



    Motion Planning for Omnidirectional Wheeled Mobile Robot by Potential Field Method

    Weihao Li / Chenguang Yang / Yiming Jiang et al. | DOAJ | 2017

    Freier Zugriff