Research article of American Journal of Scientific Research and Essays
Design and adaptive control of omni-directional mobile platform with four driving wheels
School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, P.R. China
In this paper, a general kinematic model of the four drive wheel omnidirectional mobile platform is established, and the CMAC (Cerebellar model articulation controller) +PID joint control strategy is used to design the embedded adaptive control of the omnidirectional mobile platform in view of the problem that the conventional control can not be self-tuning online and the real-time response of the response needs to be improved. The MATLAB simulation and experimental analysis of DC motor speed regulation were carried out, and the motion performance of the prototype was tested by a series of typical experiments. The results show that the kinematic model of the mecanum wheel omnidirectional moving platform is reasonable. The dynamic response of the CMAC+PID adaptive controller is fast, the control precision is high, and the robustness is good. The prototype can achieve the horizontal / vertical translation, the original rotation and the omni-directional motion in the plane. The overall performance can meet the requirements of the engineering application.
Keywords: mecanum wheel; omni-directional movement platform; kinematics analysis; CMAC+PID controller
How to cite this article:
Weibin Zhang. Design and adaptive control of omni-directional mobile platform with four driving wheels. American Journal of Scientific Research and Essays, 2018 3:7. DOI:10.28933/ajsre-2018-06-2801
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