Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller

Mecanum-wheeled robot (MWR) has always been the limelight of mobile robot engineering and industrial applications due to its capability to manoeuvre from one position to another, achieving prominences of being time-saving and space-saving. However, as Mecanum wheel is made up of rollers, the MWR suf...

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Main Author:	Keek,, Joe Siang
Format:	Thesis
Language:	English English
Published:	2019
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utem.edu.my/id/eprint/24720/1/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf http://eprints.utem.edu.my/id/eprint/24720/2/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf
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id	my-utem-ep.24720
record_format	uketd_dc
institution	Universiti Teknikal Malaysia Melaka
collection	UTeM Repository
language	English English
advisor	Loh, Ser Lee
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Keek,, Joe Siang Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
description	Mecanum-wheeled robot (MWR) has always been the limelight of mobile robot engineering and industrial applications due to its capability to manoeuvre from one position to another, achieving prominences of being time-saving and space-saving. However, as Mecanum wheel is made up of rollers, the MWR suffers from uncertainties arose from slippage, dynamic wheel radius and centre of mass, nonlinear actuation and et cetera. These factors complicate the control of the MWR. Merely kinematic and dynamic modellings are often inadequate to develop a path-trackable MWR control system. In other words, modelling and quantifying the uncertainties are often compulsory as shown in the literatures, but these further increase the complexity of the control system. Therefore, in this research, an Output-scheduled Fractional-order Proportional-integral (OS FOPI) controller is proposed as a simpler approach, with achievement of various complex path tracking as end result. First of all, the MWR in this research has two computer ball mice as positioning sensors to realize a 3-DOF localization, and four brushed DC geared motors rated at 19 RPM as actuators for Ø60 mm Mecanum wheels. The nonlinearities of the actuators are linearized based on open-loop step responses and are estimated by using polynomial regression. However, the nonlinearities are not completely eradicated and are significant especially during low RPM operation. Therefore, the OS FOPI controller which has fractional integral nonlinear properties is implemented. A conditional integral-reset anti-windup is supplemented to overcome controller saturation caused by the slow RPM actuations. Next, unlike conventional control method for MWR, the proposed control system does not require modellings of kinematics, dynamics and uncertainties in order to achieve path tracking. This is due to the output-scheduling method, which involves mathematical operation that linearly maps the summation of two angles – robot’s immediate heading angle and angle between positions, into gains that control each Mecanum wheel. In addition, the output-scheduling method is directly a displacement-controlled approach and thus requires no unit conversion from velocity to displacement. Overall, the proposed control system is more intuitive and straightforward. The effectiveness of the OS FOPI controller is evaluated with OS P controller and OS PI controller. The experiment results show that all three output-scheduling controllers successfully achieve trackings of complex-shaped paths. However, the OS FOPI controller exhibits better tracking performance than the others with overall 28 % and 40 % of improvements on integrals of absolute error (IAE) and squared error (ISE), respectively. In addition, among the OS PI and OS FOPI controllers, OS FOPI controller outperforms the former with 17 % lesser path tracking vibration. In conclusion, successful trackings of various complex-shaped paths are experimentally demonstrated with a simpler control system.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Keek,, Joe Siang
author_facet	Keek,, Joe Siang
author_sort	Keek,, Joe Siang
title	Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
title_short	Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
title_full	Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
title_fullStr	Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
title_full_unstemmed	Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller
title_sort	path tracking control of mecanum−wheeled robot with output−scheduled fractional−order proportional−integral controller
granting_institution	Universiti Teknikal Malaysia Melaka
granting_department	Faculty of Electrical Engineering
publishDate	2019
url	http://eprints.utem.edu.my/id/eprint/24720/1/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf http://eprints.utem.edu.my/id/eprint/24720/2/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf
_version_	1747834095269838848
spelling	my-utem-ep.247202021-10-05T12:37:51Z Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller 2019 Keek,, Joe Siang TJ Mechanical engineering and machinery Mecanum-wheeled robot (MWR) has always been the limelight of mobile robot engineering and industrial applications due to its capability to manoeuvre from one position to another, achieving prominences of being time-saving and space-saving. However, as Mecanum wheel is made up of rollers, the MWR suffers from uncertainties arose from slippage, dynamic wheel radius and centre of mass, nonlinear actuation and et cetera. These factors complicate the control of the MWR. Merely kinematic and dynamic modellings are often inadequate to develop a path-trackable MWR control system. In other words, modelling and quantifying the uncertainties are often compulsory as shown in the literatures, but these further increase the complexity of the control system. Therefore, in this research, an Output-scheduled Fractional-order Proportional-integral (OS FOPI) controller is proposed as a simpler approach, with achievement of various complex path tracking as end result. First of all, the MWR in this research has two computer ball mice as positioning sensors to realize a 3-DOF localization, and four brushed DC geared motors rated at 19 RPM as actuators for Ø60 mm Mecanum wheels. The nonlinearities of the actuators are linearized based on open-loop step responses and are estimated by using polynomial regression. However, the nonlinearities are not completely eradicated and are significant especially during low RPM operation. Therefore, the OS FOPI controller which has fractional integral nonlinear properties is implemented. A conditional integral-reset anti-windup is supplemented to overcome controller saturation caused by the slow RPM actuations. Next, unlike conventional control method for MWR, the proposed control system does not require modellings of kinematics, dynamics and uncertainties in order to achieve path tracking. This is due to the output-scheduling method, which involves mathematical operation that linearly maps the summation of two angles – robot’s immediate heading angle and angle between positions, into gains that control each Mecanum wheel. In addition, the output-scheduling method is directly a displacement-controlled approach and thus requires no unit conversion from velocity to displacement. Overall, the proposed control system is more intuitive and straightforward. The effectiveness of the OS FOPI controller is evaluated with OS P controller and OS PI controller. The experiment results show that all three output-scheduling controllers successfully achieve trackings of complex-shaped paths. However, the OS FOPI controller exhibits better tracking performance than the others with overall 28 % and 40 % of improvements on integrals of absolute error (IAE) and squared error (ISE), respectively. In addition, among the OS PI and OS FOPI controllers, OS FOPI controller outperforms the former with 17 % lesser path tracking vibration. In conclusion, successful trackings of various complex-shaped paths are experimentally demonstrated with a simpler control system. 2019 Thesis http://eprints.utem.edu.my/id/eprint/24720/ http://eprints.utem.edu.my/id/eprint/24720/1/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf text en public http://eprints.utem.edu.my/id/eprint/24720/2/Path%20Tracking%20Control%20Of%20Mecanum%E2%88%92Wheeled%20Robot%20With%20Output%E2%88%92Scheduled%20Fractional%E2%88%92Order%20Proportional%E2%88%92Integral%20Controller.pdf text en validuser https://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=116896 mphil masters Universiti Teknikal Malaysia Melaka Faculty of Electrical Engineering Loh, Ser Lee 1. Al-Alwan, A., Guo, X., NfDoye, I., and Laleg-Kirati, T.-M., 2017. Laser beam pointing and stabilization by fractional-order PID control: tuning rule and experiments. 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Path Tracking Control Of Mecanum−Wheeled Robot With Output−Scheduled Fractional−Order Proportional−Integral Controller

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