{"title":"MY3轮式全向移动机器人模糊自抗扰控制方法","authors":"C. Ye, Jingru Shao, Yong Liu, Su-Yang Yu","doi":"10.1108/ir-10-2022-0264","DOIUrl":null,"url":null,"abstract":"\nPurpose\nOmnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.\n\n\nDesign/methodology/approach\nBased on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.\n\n\nFindings\nThe control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.\n\n\nOriginality/value\nA FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.\n","PeriodicalId":54987,"journal":{"name":"Industrial Robot-The International Journal of Robotics Research and Application","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2023-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel\",\"authors\":\"C. Ye, Jingru Shao, Yong Liu, Su-Yang Yu\",\"doi\":\"10.1108/ir-10-2022-0264\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\nPurpose\\nOmnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.\\n\\n\\nDesign/methodology/approach\\nBased on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.\\n\\n\\nFindings\\nThe control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.\\n\\n\\nOriginality/value\\nA FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.\\n\",\"PeriodicalId\":54987,\"journal\":{\"name\":\"Industrial Robot-The International Journal of Robotics Research and Application\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2023-05-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Industrial Robot-The International Journal of Robotics Research and Application\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1108/ir-10-2022-0264\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, INDUSTRIAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Industrial Robot-The International Journal of Robotics Research and Application","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1108/ir-10-2022-0264","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, INDUSTRIAL","Score":null,"Total":0}
Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel
Purpose
Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.
Design/methodology/approach
Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.
Findings
The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.
Originality/value
A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.
期刊介绍:
Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world.
The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to:
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AI for Autonomous Unmanned Systems
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Brain-Computer Interfaces for Human-Robot Interaction
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Wearable Robotics/Exoskeletons.