[1]WANG Jianbin,CHEN Jianping,YANG Yimin.Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis[J].CAAI Transactions on Intelligent Systems,2014,9(5):569-576.[doi:10.3969/j.issn.1673-4785.201304003]
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Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 5 Page number: 569-576 Column: 学术论文—机器感知与模式识别 Public date: 2014-10-25
Title:
Motor decoupling control for four-wheel omni-directional mobile robot based on dynamic analysis
Author(s):
WANG Jianbin1;  CHEN Jianping2;  YANG Yimin1
1. School of Automation, Guangdong University of Technology, Guangzhou 510090, China;
2. School of Computer Science, Zhaoqing University, Zhaoqing 526061, China
Keywords:
omni-directional mobile robots; dynamic analysis; decoupling control; motor control; motion control
CLC:
TP273
DOI:
10.3969/j.issn.1673-4785.201304003
Abstract:
An four-wheel omni-directional mobile robot is a complicated nonlinear strong coupling mechanical system. Since the strong coupling phenomena exist between wheel driven motors, it is difficult to obtain ideal control effect. In order to solve this problem, a decoupling method for multi-motor control based on dynamic analysis is raised in this paper. Through dynamic analysis of the four-wheel robot, the state equation between the four wheels’ speed and the driving moment is derived, and the coupling relations between input and output variables of motors are obtained. Furthermore, the decoupling controller is designed according to the consistency idea of controlled variables. Compared with decoupling control of the traditional reference model, the new controller meets both controlling and decoupling performance, achieving independent control of four motors. Simulation results showed that the method can effectively reduce the coupling interaction between the control variables. Each motor can also track its own input, showing good tracking decoupling effect.
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