A Rate-Difference Disturbance Observer Control for a Timing-Belt Servo System

Yu, Zhiyong; Yang, Tao; Ruan, Yong; Xu, Tian; Tang, Tao

doi:10.1109/tie.2021.3123642

Cited by 10 publications

(5 citation statements)

References 31 publications

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“…where c ri denotes the damping coefficient; f ri represents the Coulomb's friction of the rotation shaft, which is approximated as f ri = A f i S f θri ; u ri denotes the driving torque of each wheel; r is the radius of the wheel; and d ri represents the disturbance and uncertainties. From (6) and Figure 2, the dynamics of the timing-belt servo system is defined as [5]…”

Section: Dynamics Modelingmentioning

confidence: 99%

“…Traditional four-wheel, independently driven skid-steer mobile robots are often driven directly by motors [3], i.e., each wheel is equipped with a directly driven motor, which has the advantage of a simple drive system. Compared with the direct drive method, the timing-belt servo system has the advantages of being lightweight, vibration absorption, and high torque [5]. Based on these characteristics, timing-belt servo systems have been widely used in automotive, textile, agricultural machines, and robotic motion [5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the direct drive method, the timing-belt servo system has the advantages of being lightweight, vibration absorption, and high torque [5]. Based on these characteristics, timing-belt servo systems have been widely used in automotive, textile, agricultural machines, and robotic motion [5][6][7][8][9]. In addition, the four-wheel, independent drive makes the robot have redundant drive characteristics, which can make the robot have higher load capacity, stronger motion capability, and good fault tolerance characteristics.…”

Section: Introductionmentioning

confidence: 99%

“…The parameter of the adaptive control law for the proposed coordinated controller is chosen as Λ = diag [5,5]. The robust control law is designed as u s2 = −K 2 s, where K 2 represents the combination of linear and robust feedback, K 2 = [4.6, 4.6] T , and the parameter adaptive law is chosen to Γ = diag[0,0,46,46].…”

mentioning

confidence: 99%

“…The robust control law is designed as u s2 = −K 2 s, where K 2 represents the combination of linear and robust feedback, K 2 = [4.6, 4.6] T , and the parameter adaptive law is chosen to Γ = diag[0,0,46,46]. The parameter of the adaptive control law for the timing-belt servo system controller is chosen as Λ = diag [5,5]. The robust control law is designed as u rs2 = −K r2 s, where K r2 represents the combination of linear and robust feedback, K r2 = [4.6,4.6] T , and the parameter adaptive law is chosen to Γ = diag[0,0,46,46].…”

mentioning

confidence: 99%

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Model-Based Coordinated Trajectory Tracking Control of Skid-Steer Mobile Robot with Timing-Belt Servo System

Liang

Liu

et al. 2023

Electronics

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Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection and exploration. Traditional skid-steer mobile robot controllers often use a kinematics controller to obtain the desired speed of each wheel, complete speed closed-loop control of each wheel and achieve the robot’s trajectory tracking control. However, the controller based on kinematics may lead to robot chattering and wheel spin from being directly driven by the motor on uneven grounds. To solve these problems, we developed a four-wheel, independently driven skid-steer mobile robot with a damping module for the timing-belt servo system and proposed a model-based coordinated trajectory tracking control method with the timing-belt servo system. First, the kinematics and dynamics of the mobile robot are established, including the chassis kinematics and dynamics, as well as the dynamics of the timing-belt servo system. Secondly, the hierarchical control law is designed, which has adaptive robust control of the upper-level robot chassis, middle-level control allocation approach, and adaptive robust control of the bottom-level timing-belt servo system. Finally, the proposed method is verified by the robot’s trajectory tracking control comparison simulation experiments and has a better control performance.

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Section: Dynamics Modelingmentioning

confidence: 99%