HYBRID CONTROL OF MOBILE ROBOTS USING COMPUTED TORQUE AND PID CONTROLLERS FOR ENHANCED TRAJECTORY TRACKING
Keywords:
Dynamic Modeling, Mecanum Wheeled, PID Controller, Computed Torque Control, Hybrid Control, Trajectory Tracking, OmnidirectionalAbstract
In this research, a hybrid control system is designed and implemented to achieve high performance a Four-Mecanum Wheeled Mobile Robot's (4-MWMR) trajectory tracking using Computed Torque Control (CTC) and Proportional–Integral–Derivative (PID) controller. The FMWMRs are characterized as omnidirectional mobile robots, which suffer from nonlinear dynamics, wheel slippage and parameter uncertainties, resulting in difficulties in achieving accurate motion control. A dynamic model is derived from the study using the Euler-Lagrange formulation and this results in a CTC that linearizes the system. The PID controller is used to improve trajectory accuracy and steady state performance. The hybrid approach takes into account several reference trajectories, calculates the tracking errors and calculates steering commands to modify the wheel velocities. System is robust against disturbances and modelling errors, due to real-time wheel encoder and Inertial Measurement Unit (IMU) feedback.The simulation results show that the hybrid controller has better performance than the traditional PID controllers with regard to the errors it reduces, stability and response time. It combines the dynamic compensation capabilities of the Computed Torque Controller, with the simplicity of the PID controller, thus creating a powerful solution for dealing with the nonlinear dynamics of Four-Mecanum Wheeled Mobile Robots. The hybrid method is a promising concept for use in high-precision autonomous navigation systems, which are found in industrial automation, intelligent transportation and warehouse logistics.
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