Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

Abstract

Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

“…In [50], the adaptive robust control was proposed for the trajectory tracking of an OMR in the presence of uncertainties. The study presented in [51] used a flatness-based control scheme hardware-in-the-loop simulation platform for an OMR where the control input from the simulation model was reassigned to the robot hardware and the feedback to the simulation model was done by a Kinect-based vision system. The trajectory tracking for an OMR with four omnidirectional wheels presented in [52] was carried out using PID and linear quadratic tracking (LQT)-based controller.…”