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Nonlinear control of mecanum-wheeled robots applying H∞controller

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Resumo:Mecanum wheeled mobile robots have become relevant due to their excellent maneuverability, enabling omnidirectional motion in constrained environments as a requirement in industrial automation, logistics, and service robotics. This paper addresses a low-level controller based on the H-Infinity (H-infinity) control method for a four-wheel Mecanum mobile robot. The proposed controller ensures stability and performance despite model uncertainties and external disturbances. The dynamic model of the robot was developed and introduced in MATLAB to generate the controller. Further, the controller's performance is validated and compared to a traditional PID controller using the SimTwo simulator, a realistic physics-based simulator with dynamics of rigid bodies incorporating non-linearities such as motor dynamics and friction effects. The preliminary simulation results show that the H-infinity reached a time-independent Euclidean error of 0.0091 m, compared to 0.0154 m error for the PID in trajectory tracking. Demonstrating that the H-infinity controller handles nonlinear dynamics and disturbances, ensuring precise trajectory tracking and improved system performance. This research validates the proposed approach for advanced control of Mecanum wheeled robots.
Autores principais:Chellal, Arezki Abderrahim
Outros Autores:Braun, João A.; Lima, José; Gonçalves, José; Valente, Antonio; Costa, Paulo
Assunto:Mecanum robot H-Infinity (H-infinity) Position controller Trajectory tracking
Ano:2025
País:Portugal
Tipo de documento:comunicação em conferência
Tipo de acesso:acesso aberto
Instituição associada:Instituto Politécnico de Bragança
Idioma:inglês
Origem:Biblioteca Digital do IPB

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