Authors A.A. Sklyarov, T.E. Pohilina
Month, Year 03, 2017 @en
Index UDC 681.51
Abstract This paper presents a new approach to the nonlinear control system design for robotic omni-wheel drive platform. The omni-wheel drive platform is chosen as controlled object because among the others this type of unmanned vehicle is the most maneuverable, designed to work in closed spaces such as warehouses, hangars and etc. The platform has the shape of a triangle. The wheels of platform are located at an angle of 120 degrees, whose axes pass through the center of the vehicle. The design allows moving loads in a closed space. The paper gives an overview of modern methods and approaches to the control of the omni-wheels robotic platform. The problems of platform control are highlighted; in particular showed is that the application of methods and approaches based on linearization methods of the nonlinear system makes the robotic system lim-ited to certain local control algorithms. Therefore, the paper provides an explanation of using new non-linear approaches to the management of mobile robots, in particular, the synergetic control theory. The main method of the synergetic control theory is the method of analytical construction of aggregated regulators (ACAR), which allows synthesizing control laws for complex nonlinear systems of large dimension without the use of linearization procedures or other simplifications; therefore, this method is used to synthesize the synergetic control law of a mobile robot. The re-sulting control law takes into account the non-linear properties of the model of the mobile omni-wheels robotic platform, so this control strategy ensures the asymptotic stability of the close-loop system. The verification of the obtained system was made by computer simulation. The simulation results confirm that in the synthesized close-loop system, movement of the mobile robot to a given point of the working plane with a given orientation angle of the platform is provided.

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Keywords Robotic platform; Omni-wheel drive; Mobile robot; Synergetic control theory; Omni-directional movement.
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