External Disturbance Compensation in the Problem of the Mobile Robot Visual Positioning
Abstract
The paper considers the problem of visual positioning of an all-wheel drive mobile omni-wheeled robot relative to an external visual marker in the form of a square described by the coordinates of four corner points. A video camera is rigidly fixed to the robot body. The robot is controlled by setting the thrust force in the longitudinal and normal directions, as well as setting the torque. The task is to ensure that the projection of the visual marker in the image plane is in the desired position, while a number of requirements are set for the dynamics of the controlled movement, in particular, in the presence of an external constant or periodic disturbance. The proposed solution consists of a combination of visual servoing control approaches and the use of a special multipurpose controller that allows you to break down an initially complex task into simpler ones that can be solved relatively independently of each other. The synthesis process of such a regulator is described to take into account the requirements in various driving modes. The resulting feedback provides asymptotic stability, astatism of the closed system with respect to a constant perturbation, as well as minimization of the intensity of the response of the control signal to polyharmonic perturbations with known frequencies. The effectiveness of the described approach is demonstrated by the example of experiments with a computer model of a mobile robot in its own motion mode, in the presence of a constant external disturbance and in the case of a polyharmonic disturbance with three harmonics.
References
2. Chaumette F., Hutchinson S. Visual servo control. I. Basic approaches. IEEE Robotics & Automation Magazine. 2006;13(4):82-90. doi: https://doi.org/10.1109/MRA.2006.250573
3. Veremey E.I. Dynamical Correction of Positioning Control Laws. IFAC Proceedings Volumes. 2013;46(33):31-36. doi: https://doi.org/10.3182/20130918-4-JP-3022.00019
4. Oliviera H.P., Sousa A.J., Moreira A.P., Costa P.J. Dynamical Models for Omni-directional Robots with 3 and 4 Wheels. In: Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics. Vol. 2: ICINCO. Funchal, Madeira, Portugal: INSTICC Press; 2008. p. 189-196. doi: https://doi.org/10.5220/0001489201890196
5. Carona R., Aguiar A.P., Gaspar J. Control of Unicycle Type Robots: Tracking, Path Following and Point Stabilization. In: Proceedings of JETC 2008 ‒ IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores. Lisbon, Portugal. Lisbon: ISEL; 2008. p. 180-185. Available at: https://welcome.isr.tecnico.ulisboa.pt/publications/control-of-unicycle-type-robots-tracking-path-following-and-point-stabilization (accessed 14.10.2022).
6. Ye C., Zhang J., Yu S., Ding G. Movement Performance Analysis of Mecanum Wheeled Omnidirectional Mobile Robot. In: 2019 IEEE International Conference on Mechatronics and Automation (ICMA). Tianjin, China: IEEE Computer Society; 2019. p. 1453-1458. doi: https://doi.org/10.1109/ICMA.2019.8816397
7. Leow Y.P., Low K.H., Loh W.K. Kinematic modelling and analysis of mobile robots with omni-directional wheels. In: 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. Vol. 2. Singapore: IEEE Computer Society; 2002. p. 820-825. doi: https://doi.org/10.1109/ICARCV.2002.1238528
8. Loh W.K., Low K.H., Leow Y.P. Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot. In: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). vol. 3. Taipei, Taiwan: IEEE Computer Society; 2003. p. 3237-3242. doi: https://doi.org/10.1109/ROBOT.2003.1242089
9. Chu B., Sung Y.W. Mechanical and electrical design about a mecanum wheeled omni-directional mobile robot. In: 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). Jeju, Korea (South): IEEE Computer Society; 2013. p. 667-668. doi: https://doi.org/10.1109/URAI.2013.6677426
10. Tătar M.O., Popovici C., Mândru D., Ardelean I., Pleşa A. Design and development of an autonomous omni-directional mobile robot with Mecanum wheels. In: 2014 IEEE International Conference on Automation, Quality and Testing, Robotics. Cluj-Napoca, Romania: IEEE Computer Society; 2014. p. 1-6. doi: https://doi.org/10.1109/AQTR.2014.6857869
11. Han Y., Zhu Q. Robust Optimal Control of Omni-directional Mobile Robot using Model Predictive Control Method. In: 2019 Chinese Control Conference (CCC). Guangzhou, China: IEEE Computer Society; 2019. p. 4679-4684. doi: https://doi.org/10.23919/ChiCC.2019.8865344
12. Shang W., Zhu H., Pan Y., Li X., Zhang D. A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty. Discrete Dynamics in Nature and Society. 2021;2021:9923496. doi: https://doi.org/10.1155/2021/9923496
13. Kim N., Oh D., Oh J.-Y., Lee W. Disturbance-Observer-Based Dual-Position Feedback Controller for Precision Control of an Industrial Robot Arm. Actuators. 2022;11(12):375. doi: https://doi.org/10.3390/act11120375
14. Chen Y., Dong F. Robot machining: recent development and future research issues. The International Journal of Advanced Manufacturing Technology. 2013;66(9-12):1489-1497. doi: https://doi.org/10.1007/s00170-012-4433-4
15. Lee H. Trajectory Control of Robotic Manipulators: A Comparison Study. In: Proceedings of the ASME 2020 International Mechanical Engineering Congress and Exposition. Vol. 7A: Dynamics, Vibration, and Control. Virtual, Online. V07AT07A017. ASME; 2020. doi: https://doi.org/10.1115/IMECE2020-23964
16. Zeng K., et al. Trajectory tracking for a 3-DOF robot manipulator based on PSO and adaptive neuro-fuzzy inference system. In: 2016 35th Chinese Control Conference (CCC). Chengdu, China: IEEE Computer Society; 2016. p. 973-977. doi: https://doi.org/10.1109/ChiCC.2016.7553213
17. Sotnikova M.V., Veremey E.I. Algorithms for Motion Optimization on a Given Trajectory Taking into Account Weather Forecast and Constraints. IFAC-PapersOnLine. 2018;51(32):389-394. doi: https://doi.org/10.1016/j.ifacol.2018.11.415
18. Kumar J., Gupta D., Goyal V. Nonlinear PID Controller for Three-Link Robotic Manipulator System: A Comprehensive Approach. In: Proceedings of International Conference on Communication and Artificial Intelligence. Singapore: Springer; 2022. p. 137-152. doi: https://doi.org/10.1007/978-981-19-0976-4_12
19. Jangid M.K., Kumar S., Singh J. Trajectory tracking optimization and control of a three link robotic manipulator for application in casting. International Journal of Advanced Technology and Engineering Exploration. 2021;8(83):1255. doi: https://doi.org/10.19101/IJATEE.2021.874468
20. Hu W.F., et al. Intelligent robust control for three-link robot manipulator via sliding mode technology. In: 2007 IEEE 22nd International Symposium on Intelligent Control. Singapore: IEEE Computer Society; 2007. p. 499-504. doi: https://doi.org/10.1109/ISIC.2007.4450936
21. Mustafa M.M., Hamarash I., Crane C.D. Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties. Zanco Journal of Pure and Applied Sciences. 2020;32(4):22-29. doi: https://doi.org/10.21271/ZJPAS.32.4.3
22. Cho H. On Robust Adaptive PD Control of Robot Manipulators. Journal of Applied and Computational Mechanics. 2020;6:1450-1466. doi: https://doi.org/10.22055/JACM.2020.35658.2707
23. Fan L., Joo E.M. Linear and nonlinear PD-type control of robotic manipulators for trajectory tracking. In: 2009 4th IEEE Conference on Industrial Electronics and Applications. Xi'an: IEEE Computer Society; 2009. p. 3442-3447. doi: https://doi.org/10.1109/ICIEA.2009.5138846
24. Corradini M.L., et al. Discrete time sliding mode control of robotic manipulators: Development and experimental validation. Control Engineering Practice. 2012;20(8):816-822. doi: https://doi.org/10.1016/j.conengprac.2012.04.005
25. Schlanbusch R., et al. PD+ based output feedback attitude control of rigid bodies. IEEE Transactions on Automatic Control. 2012; 57(8):2146-2152. (In Eng.) doi: https://doi.org/10.1109/TAC.2012.2183189
This work is licensed under a Creative Commons Attribution 4.0 International License.
Publication policy of the journal is based on traditional ethical principles of the Russian scientific periodicals and is built in terms of ethical norms of editors and publishers work stated in Code of Conduct and Best Practice Guidelines for Journal Editors and Code of Conduct for Journal Publishers, developed by the Committee on Publication Ethics (COPE). In the course of publishing editorial board of the journal is led by international rules for copyright protection, statutory regulations of the Russian Federation as well as international standards of publishing.
Authors publishing articles in this journal agree to the following: They retain copyright and grant the journal right of first publication of the work, which is automatically licensed under the Creative Commons Attribution License (CC BY license). Users can use, reuse and build upon the material published in this journal provided that such uses are fully attributed.
