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Armando Saenz,Victor Santibañez,Eusebio Bugarin,Alejandro Dzul,Héctor Ríos,Jorge Villalobos-Chin 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.2
In this paper, we propose a novel computed voltage based control law for an omnidirectional wheeled mobile robot equipped with four mecanum wheels. First, the dynamical model for the mechanical part is originally introduced by means of the Euler-Lagrange formulation. The motion constraints are added to the dynamic model using the Lagrange multipliers. Then, the dynamic model is completed by incorporating the dynamics of the actuators. Therefore, the dynamical model input signals are the armature voltage of the motors. The control law requires only the feedback of position and velocity of the whole robot, unlike most controllers in the literature that also need wheel speed feedback. The position and velocity are obtained by means of a multicam vision system, so measurements from motor encoders are not needed. A high-order sliding modes differentiator is included to estimate linear and angular velocities in a finite time. A stability proof is presented by means of the direct Lyapunov method, and furthermore, an analysis about parametric uncertainties in the mechanical parameters is introduced. The experimental results validate the theoretical proposal and show the good performance of the approach.
An autonomous unmanned underwater control test vehicle: platform description and experiments
César Higuera,Jesús Sandoval,Luis N. Coria,Eusebio Bugarin 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.1
This paper presents an autonomous unmanned underwater vehicle (AUUV) that can be used as a support tool for research tasks in underwater exploration, and as a platform to test different control, communication, or vision algorithms. The vehicle operates without an external power cable and with an original modular program where a web page is enabled as a graphical user interface for wireless communication with the vehicle when it is not submerged. The modular design of the program, based on open-source libraries, allows updating or modifying the configuration of each of its main modules: control, inertial unit, and vision. Experimental results are shown to validate the performance of the proposed vehicle, implementing a non-linear control that includes a PID for the trajectory tracking of its pose (position and orientation).