Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot. (September 2018)

• Record Type: Journal Article
• Authors: Sahoo, Saumya R; Chiddarwar, Shital S; Alakshendra, Veer
• Is Part Of: Simulation. Volume 94:Number 9(2018)
• Page Start: 797
• Page End: 820
• Publication Date: 2018-09
• Subjects: Omnidirectional robot -- dynamic modeling -- bond graph -- flatness-based control -- trajectory planning; Computer simulation -- Periodicals; 003.3
• DOI: 10.1177/0037549717741192
• Languages: English
• ISSNs: 0037-5497

Abstract

In this paper, a bond graph model of a mobile robot with four Mecanum wheels is developed to extract a dynamic model of the robot. This is achieved using the BG_V21 tool box of MATLAB. The dynamic model thus obtained is used to derive the control law for trajectory tracking by the robot. There are two control algorithms that are used, namely, the flatness-based controller and the backstepping controller. From the simulation results, it is evident that the extracted dynamic model of the robot is accurate. Moreover, the flatness-based controller proved to have the upper hand in performance over the backstepping controller.