Versatile non linear control strategy for reconnaissance robotic system

W. R.C.B.S. Welikala, D. P. Liyanage, A. H.A.D. Abeysekara, M. P.B. Eakanayake, G. M.R.I. Godaliyadda, J. V. Wijayakulasooriya

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings
Pages332-337
Number of pages6
ISBN (Electronic)9781479918768
DOIs
StatePublished - 3 Feb 2016
Event10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015 - Peradeniya, Sri Lanka
Duration: 17 Dec 201520 Dec 2015

Publication series

Name2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings

Conference

Conference10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015
Country/TerritorySri Lanka
CityPeradeniya
Period17/12/1520/12/15

Keywords

  • Dynamics
  • Nonlinear
  • control
  • linearization
  • omnidirectional
  • robotics

Fingerprint

Dive into the research topics of 'Versatile non linear control strategy for reconnaissance robotic system'. Together they form a unique fingerprint.

Cite this