Authors:
Christoph Stöger
;
Andreas Müller
and
Hubert Gattringer
Affiliation:
Johannes Kepler University Linz, Austria
Keyword(s):
Dynamic Modeling and Control, Redundant Actuation, Pseudo-omnidirectional, Singularities.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Systems Modeling and Simulation
;
Vehicle Control Applications
Abstract:
Vehicles with several centered orientable wheels have one of the highest maneuverability and are hence an
excellent choice for transportation tasks in narrow environments. However, they are non-holonomic, in general
redundantly actuated, and additionally suffer from configuration singularities, which makes their modeling and
control challenging. Existing control approaches only consider the vehicle kinematics whereas the required
torques are commonly controlled by classical PD motor controllers. However, this leads to considerable
tracking errors and a violation of the constraints especially during acceleration phases. Moreover, actuator
counteractions and an undefined torque distribution can be observed. This paper introduces a model-based
control concept that overcomes these issues. It resolves counteractions and distributes torques according to
physical limitations which significantly reduces slippage and the energy consumption and further reduces the
tracking error. To this end,
an inverse dynamics solution of a redundantly parametrized model is used. The
method is robust to configuration singularities. This is confirmed by experimental results.
(More)