The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Robust Trajectory Tracking Control of Mecanum Wheeled AGV Using State Space Disturbance Observer Based Impedance Control and ISMC

상태 공간 외란관측기 기반의 임피던스 제어와 ISMC를 이용한 메카넘 휠 AGV의 강인 궤도 추적 제어

  • Hyoseok Cheon (Electrical Engineering, Changwon National University) ;
  • Seungkyu Park (Electrical Engineering, Changwon National University)
  • Received : 2022.12.29
  • Accepted : 2023.02.20
  • Published : 2023.05.31
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Abstract

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

Keywords

Acknowledgement

This work was supported by research fund from Changwon National University in 2021-2022

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