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| Kinematic modeling and control of an omnidirectional mobile robot subject to wheel slippage and lateral and longitudinal sliding |
| CésarBrayanBárcenas-Presteguí1,MartinVelasco-Villa1,JaimeGonzález-Sierra2,JoséIgnacioAguilar-Pérez1 |
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| (1 Sección de Mecatrónica, Departamento de Ingeniería Eléctrica, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Avenida Instituto Politécnico Nacional 2508, Colonia San Pedro Zacatenco, 07360 Mexico City, Ciudad de México, Mexico;2 UPIIH, Instituto Politécnico Nacional, Carretera Pachuca-Actopan Kilómetro 1+500, Distrito de Educación, Salud, Ciencia, Tecnología e Innovación, 42162 San Agustín Tlaxiaca, Hidalgo, Mexico) |
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| 摘要: |
| Nowadays, using mobile robots in different applications has been very important. However, the environment in which they
operate can cause the wheels to slip or the robot body to slide, causing the assigned task not to be performed successfully.
Therefore, the need arises to mathematically determine these external perturbations to predict the behavior of the mobile
robot. Based on the above mentioned facts, this work focuses on obtaining the kinematic model of an omnidirectional mobile
robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage. To mitigate the effect of the
disturbances, a control strategy is considered based on the design of a generalized proportional integral observer (GPIO)
that allows the estimation of such perturbations. Then, an active disturbance rejection control (ADRC) methodology is
implemented to solve the trajectory tracking problem, and it is theoretically proved that the tracking errors converge to a
vicinity near the origin. Numerical simulations and real-time experiments validate the obtained perturbed model and the
control strategy performance, achieving the desired trajectory tracking despite these perturbations. |
| 关键词: Omnidirectional robot · Wheel slippage · GPIO · ADRC |
| DOI：https://doi.org/10.1007/s11768-025-00269-3 |
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| 基金项目:This work was supported by Instituto Politécnico Nacional - Secretaría de Investigación y Posgrado under grant 20253806 and in part by project UNAM PAPIME PE104125. |
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| Kinematic modeling and control of an omnidirectional mobile robot subject to wheel slippage and lateral and longitudinal sliding |
| César Brayan Bárcenas-Presteguí1,Martin Velasco-Villa1,Jaime González-Sierra2,José Ignacio Aguilar-Pérez1 |
| (1 Sección de Mecatrónica, Departamento de Ingeniería Eléctrica, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Avenida Instituto Politécnico Nacional 2508, Colonia San Pedro Zacatenco, 07360 Mexico City, Ciudad de México, Mexico;2 UPIIH, Instituto Politécnico Nacional, Carretera Pachuca-Actopan Kilómetro 1+500, Distrito de Educación, Salud, Ciencia, Tecnología e Innovación, 42162 San Agustín Tlaxiaca, Hidalgo, Mexico) |
| Abstract: |
| Nowadays, using mobile robots in different applications has been very important. However, the environment in which they
operate can cause the wheels to slip or the robot body to slide, causing the assigned task not to be performed successfully.
Therefore, the need arises to mathematically determine these external perturbations to predict the behavior of the mobile
robot. Based on the above mentioned facts, this work focuses on obtaining the kinematic model of an omnidirectional mobile
robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage. To mitigate the effect of the
disturbances, a control strategy is considered based on the design of a generalized proportional integral observer (GPIO)
that allows the estimation of such perturbations. Then, an active disturbance rejection control (ADRC) methodology is
implemented to solve the trajectory tracking problem, and it is theoretically proved that the tracking errors converge to a
vicinity near the origin. Numerical simulations and real-time experiments validate the obtained perturbed model and the
control strategy performance, achieving the desired trajectory tracking despite these perturbations. |
| Key words: Omnidirectional robot · Wheel slippage · GPIO · ADRC |
