TY - GEN
T1 - Versatile non linear control strategy for reconnaissance robotic system
AU - Welikala, W. R.C.B.S.
AU - Liyanage, D. P.
AU - Abeysekara, A. H.A.D.
AU - Eakanayake, M. P.B.
AU - Godaliyadda, G. M.R.I.
AU - Wijayakulasooriya, J. V.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/2/3
Y1 - 2016/2/3
N2 - In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that controller for the intended task can be designed. Operation of this proposed strategy is compared with improved version of conventional PID based controller which is designed for the same trajectory and orientation tracking task of an ODR. Then Obtained state space model is used to test the performance of both proposed controllers. Both controllers show acceptable performance.
AB - In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that controller for the intended task can be designed. Operation of this proposed strategy is compared with improved version of conventional PID based controller which is designed for the same trajectory and orientation tracking task of an ODR. Then Obtained state space model is used to test the performance of both proposed controllers. Both controllers show acceptable performance.
KW - Dynamics
KW - Nonlinear
KW - control
KW - linearization
KW - omnidirectional
KW - robotics
UR - http://www.scopus.com/inward/record.url?scp=84964663133&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84964663133&partnerID=8YFLogxK
U2 - 10.1109/ICIINFS.2015.7399033
DO - 10.1109/ICIINFS.2015.7399033
M3 - Conference contribution
AN - SCOPUS:84964663133
T3 - 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings
SP - 332
EP - 337
BT - 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings
T2 - 10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015
Y2 - 17 December 2015 through 20 December 2015
ER -