Nonlinear Optimal and Multi-Loop Flatness-Based Control of Omnidirectional 3-Wheel Mobile Robots

[1] C. Ren, X. Li, X. Yiang and S. Ma, Extended state observer-based sliding-mode control of an omnidirectional mobile robot with friction compensation, IEEE Transactions on Industrial Electronics, vol. 66, no. 17, pp. 9580-9489, 2019. Search in Google Scholar

[2] H. Kim and B.K. Kim, Online minimum energy trajectory planning and control on a straightline path for three-wheeled omnidirectional mobile robots, IEEE Transactions on Industrial Electronics, vol. 61, no. 9, pp. 4721-4779, 2014. Search in Google Scholar

[3] C. Ren, Y. Ding and S. Ma, A structure improved extended state observer-based control with application to an omnidirectional mobile robot, ISA Transactions, Elsevier, vol. 101, pp. 335-345, 2020. Search in Google Scholar

[4] J.C. Lins Barreto, A.G. Scolari Conceicao, C.E.T. Dorea, L. Martinez and E.R. de Pieri, Design and implementation of Model Predictive Control with friction compensation of an omnidirectional mobile robot, IEEE/ASME Transactions on Mechatronics, vol. 19, no. 2, pp. 462-476, 2014. Search in Google Scholar

[5] K.B. Kim and B.K. Kim, Minimum-time trajectory of three-wheel omnidirectional mobile robots following a bounded curvature path with a referenced heading profiile, IEEE Transactions on Robotics, vol. 27, no. 6, pp. 800-808, 2011. Search in Google Scholar

[6] M. El-Sayyah, M.E. Saad and M. Saad, Enhanced MPC for omnidirectional robot motion tracking using Laguerre functions and non-iterative linearization, IEEE Access, vol. 10, pp. 118290-118302, 2022. Search in Google Scholar

[7] H.C. Huang, SoPC based parallel ACO algorithm and its application to optimal motion controller design for intelligent omnidirectional mobile robot, IEEE Transactions on Industrial Informatics, vol. 9, no. 4, pp. 1828-1835, 2013. Search in Google Scholar

[8] M. Hamaguchi, Damping and transfer control system with parallel linkage mechanism-based active vibration reducer for omnidirectional wheeled robots, IEEE/ASME Transactions on Mechatronis, vol. 23, no. 4, pp. 2424-2435, 2019. Search in Google Scholar

[9] T. Kalmar-Nagy, R.D. Andreu and P Ganguly, Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle, Robotics and Autonomous Systems, Elsevier, vol. 46, pp. 47-64, 2004. Search in Google Scholar

[10] F. Dong, D. Jin, X. Zhou, and J. Han, Adaptive robust constraint following control for omnidirectional mobile robot: An indirect approach, IEEE Access, vol. 9, pp. 8877=8889, 2021. Search in Google Scholar

[11] J. Liu, J. Zhu, R.L. Williams and J. Wu, Omnidirectional mobile robot controller based on trajectory linearization, Robotics and Autonomous Systems, Elsevier, vol. 56, pp. 461-479, 2005. Search in Google Scholar

[12] V.T. Dinh, H. Nguyen, S.M. Shin, M.K, Kim, S.B. Kim and G.S. Bynn, Tracking control of omnidirectional mobile platform with disturbance using diffeential sliding-mode controller, Journal of Precision Engineering Springer, vol, 19, no,5, pp. 39-48, 2012. Search in Google Scholar

[13] N. Hacen and B. Merdal, Motion analysis and control of omnidirectional mobile robot, Journal of Control, Automation and Electrical Systems, Springer, vol. 30, pp. 194-213, 2019. Search in Google Scholar

[14] D.J. Balkom, P.A. Kavathekar and M.T. Mason, Time-optimal trajectory for an omnidirectional vehicle, International Journal of Robotics Research, Sage Publications, vol. 25, no. 10, pp. 985-999, 2006. Search in Google Scholar

[15] C.A. Huang, H.M. Wu and W.H. Hung, Software/Hardware-based hierarchical fiinite-time sliding-mode control with input-saturation for an omnidirectional autonomous mobile robot, IEEE Access, vol. 7, pp. 90254-90267, 2019. Search in Google Scholar

[16] C. Ren, Y. Ding, S. Ma, L.Hu and X. Zhu, Passivity-based tracking control of an omnidirectional mobile robot using one geometrical parameter, Control Engineering Practice, Elsevier, vol. 90, pp. 160-168, 2019. Search in Google Scholar

[17] H.M. Wu and M. Karkouh, Frictional forces and torque compensation-based cascading sliding-mode tracking control for an uncertain omnidirectional mobile robot, Measurement and Control, Sage Publications, vol. 55, no. 3, pp. 178-188, 2022. Search in Google Scholar

[18] C. Ren, H. Jiang, C. Ma and S. Ma, Conditional disturbance rejection-based control for an omnidirectional mobile robot: An energy perspective, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11641-11647, 2022. Search in Google Scholar

[19] C. Ren and S. Ma, Dynamic modelling and analysis of an omnidirectional mobile robot, IEEE IROS 2013, Intl. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov. 2013. Search in Google Scholar

[20] H. Vellasco-Villa, H. Rodriguez-Castro, J. Estrada-Sanchez, H. Sira-Ramirez and I.A. Vasquez, Dynamic trajectory tracking control of an omnidirectional mobile robot based on a passive approach, Advances in Robot Manipulators, InTech Publications, 2010. Search in Google Scholar

[21] K. Watanabe, Y. Shiraishi, S. Tzafestas, J, Tung and T. Fukuda, Feedback control of an omnidirectional autonomous platform for mobile service robots, Journal of Intelligent and Robotic Systems, Springer, vol. 22, pp. 315-330, 1998. Search in Google Scholar

[22] M. Diehl, H.G. Bock, M. Diedem and P.B. Wieber, Fast direct multiple shooting algorithms for optimal robot control, In: Fast motion in biomechanics and robotics, Lecture Notes in Control and Information Sciences, LNCIS vol. 40, pp. 65-93, 2006. Search in Google Scholar

[23] J.T. Huang, T.V. Hung and M.L. Tseng, Smooth switching robust adaptive control for omnidirectional mobile robots, IEEE Transactions on Control Systems Technology, vol. 23, no. 5, pp. 1986-1993, 2015. Search in Google Scholar

[24] A.S. Lafmajani, H. Farivamejad and S. Berman, H_∞ optimal tracking controller for three-wheeled omnidirectional mobile robots with uncertain dynamics, IEEE IROS 2020, IEEE Intl. Conf. on Intelligent Robots and Systems, Las Vegas, USA, Oct. 2020. Search in Google Scholar

[25] J. Lafay, C. Collette and P.B. Wieber, Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot, IEEE ICRA 2015, IEEE 2015 Intl Conf. on Robotics and Automation, Seattle, USA, May 2015. Search in Google Scholar

[26] C. Ren and S.Ma, Generalized proportional integral observer-based control of an omnidirectional mobile robot, Mechatronics, Elsevier, vol. 26, pp. 36-44, 2015. Search in Google Scholar

[27] M. Sira-Ramirez, C. Lopez-Uriba and M. Velasco-Villa, Linear observer-based active disturbance rejection control of the omnidirectional mobile robot, Asian Journal of Control, J. Wiley, vol. 15, no. 1, pp. 51-63, 2013. Search in Google Scholar

[28] S. Lee and D. Chwa, Dynamic image-based visual servoing on monocular camera mounted omnidirectional mobile robots considering actuators and target motion via fuzzy integral sliding-mode control, IEEE Transactions on Fuzzy Systems, vol. 29, no. 7, pp. 2063-2076, 2022. Search in Google Scholar

[29] G. Makonnen, S. Kumar and P.M. Pathak, Wireless hybrid visual servoing of omnidirectional wheeled mobile robots, Robotics and Autonomous Systems, Elsevier, vol. 75, pp. 450-462, 2020. Search in Google Scholar

[30] G. Rigatos and K. Busawon, Robotic manipulators and vehicles: Control, estimation and fiiltering, Springer, 2018 Search in Google Scholar

[31] G. Rigatos and E. Karapanou, Advances in applied nonlinear optimal control, Cambridge Scholars Publishers, 2020 Search in Google Scholar

[32] G.G. Rigatos and S.G. Tzafestas, Extended Kalman Filtering for Fuzzy Modelling and Multi-Sensor Fusion, Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis vol. 13, pp. 251-266, 2007. Search in Google Scholar

[33] M. Basseville and I. Nikiforov, Detection of abrupt changes: Theory and Applications, Prentice-Hall, 1993. Search in Google Scholar

[34] G. Rigatos and Q. Zhang, Fuzzy model validation using the local statistical approach, Fuzzy Sets and Systems, Elsevier, vol. 60, no. 7, pp. 882-904,2009. Search in Google Scholar

[35] G. Rigatos, M. Abbaszadeh and M.A. Hamida, Intelligent control for electric power systems and electric vehicles, Taylor and Francis/CRC Publications, 2024. Search in Google Scholar

[36] G. Rigatos, Nonlinear control and fiiltering using differential fllatnesss theory approaches: Applications to electromechanical systems, Springer, 2016 Search in Google Scholar

[37] G.J. Toussaint, T. Basar and F. Bullo, H_∞ optimal tracking control techniques for nonlinear underactuated systems, in Proc. IEEE CDC 2000, 39th IEEE Conference on Decision and Control, Sydney Australia, 2000. Search in Google Scholar

[38] G. Rigatos, M. Abbaszadeh, P. Siano, Control and estimation of dynamical nonlinear and partial differential equation systems: Theory and Applications, IET Publications, 2022 Search in Google Scholar

[39] G. Rigatos, M. Abbaszadeh and J. Pomares, Flatness-based control in successive loops for electropneumatic actuators and robots, IFAC Journal of Systems and Control, Elsevier, vol. 25, pp. 10222, 2023. Search in Google Scholar

[40] G. Rigatos, P. Wira, M. Abbaszadeh and J. Pomares, Flatness-based control in successive loops for industrial and mobile robots, IEEE IECON 2022, IEEE 2022 Intl. Conf. on Industrial Electronics, Brussels, Belgium, Oct. 2022. Search in Google Scholar