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http://dx.doi.org/10.6109/jkiice.2021.25.12.1817

Integral Sliding-based Dynamic Control Method using Genetic Algorithm on an Omnidirectional Mobile Robot  

Park, Jin-Hyun (Department of Mechatronics Engineering, Gyeongsang National University)
Choi, Young-Kiu (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.25, no.12, 2021 , pp. 1817-1825 More about this Journal
Abstract
Omnidirectional mobile robots can be mobile in any direction without changing the robot's direction, making them easy to apply in many applications and providing excellent maneuverability. Omnidirectional mobile robots have non-linear dynamic components such as friction, making them difficult to model accurately. In this paper, we linearize the mobile robot system using the mobile robot's inverse dynamics and integral sliding mode control method to remove these nonlinear components. And the position and velocity gains are optimized using a genetic algorithm to realize the optimal performance of the proposed system control method. As a result of the performance evaluation, the genetic algorithm's control method showed superior performance than the control method with an arbitrary gain. And the proposed inverse dynamic and integral sliding mode control method can be applied to other control methods. It can be beneficial for designing a linear control system.
Keywords
Genetic algorithm; Integral sliding mode; Non-linear dynamic; Omnidirectional mobile robots;
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