Decentralized Motion Control for Omnidirectional Mobile Platform—Tracking a Trajectory Using PD Fuzzy Controller

Decentralized Motion Control for Omnidirectional Wheelchair Tracking Error Elimination Using PD-Fuzzy-P and GA-PID Controllers

“…In this section, a derivation for the nonlinear kinematics and dynamics equations of motion governing the Omni-wheel system in addition to the decentralized motion control are presented in the following subsections. Details of the derived equation of the omnidirectional motion are adopted from [26].…”

“…As shown in Figure 3 the four moving manners of omnidirectional wheeled wheelchair: rotational motion (a), horizontal motion (b), vertical motion (c), and a translation moving (d). Details for the decentralized algorithm can be found in Reference [26]. For the first case, the pure rotational motion is attained when ωC ≠0 and H=V=0.…”

“…The distance from each wheel’s center to the center of geometry is L, and each of the three wheels has the radius r and is driven by a separate motor. The rotation matrix is used from the body frame to the global frame as follows [ 26 ]: …”

“…In this paper, a decentralized algorithm for motion control of omnidirectional wheeled robot was used to overcome the complexity and difficulty of the conventional methods in applying to a real system is developed. The method is expressed in the body frame, where the omnidirectional mobile robot has three separated independent components of motion including rotational motion, horizontal motion, and vertical motion, which can be controlled separately with independent controllers, which makes it simple to apply and independent on accurate mathematical model of the controlled object [26]. Two methods of controlling will be tested on the three components of motion and then the optimal one of each is chosen separately to get the best overall result.…”