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Robust Observer-based Control of Nonlinear Multi-Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol

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Abstract

This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing; omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot (MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system (MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Qom, Qom, 3716146611, Iran

    M. R. Rahimi Khoygani, R. Ghasemi & P. Ghayoomi

  2. Department of Control Engineering, Islamic Azad University, Tehran, 1477893855, Iran

    M. R. Rahimi Khoygani

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Correspondence to M. R. Rahimi Khoygani.

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Colored figures are available in the online version at https://link.springer.com/journal/11633

M. R. Rahimi Khoygani received the B.Sc. degree in electrical power engineering from the Islamic Azad University (IAU), Iran in 2012, the M.Sc. degree in control engineering from IAU, Iran in 2015. He is currently a member of Department of Control Engineering, Qom University, Iran.

His research interests include neural net, fuzzy systems, intelligent systems, robotics, control of nonlinear systems, nonlinear observer, intelligent state estimation, and adaptive control.

R. Ghasemi received the B.Sc. degree in electrical engineering from Semnan University, Iran in 2000, and the M. Sc. and Ph.D. degrees in control engineering from Amirkabir University of Technology, Iran in 2004 and 2009, respectively. He joined Department of Electrical Engineering, Qom University, Iran, where he is currently a professor of electrical engineering. His research interests include large-scale systems, adaptive control, robust control, nonlinear control, and intelligent systems.

P. Ghayoomi received the B.Sc. and M.Sc. degrees in control engineering from Islamic Azad University, Iran in 2013 and 2016, respectively. He is currently a member of Department of Control Engineering, Qom University, Iran.

His research interests include intelligent systems, robotics, nonlinear observer, and adaptive control.

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Khoygani, M.R.R., Ghasemi, R. & Ghayoomi, P. Robust Observer-based Control of Nonlinear Multi-Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol. Int. J. Autom. Comput. 18, 787–801 (2021). https://doi.org/10.1007/s11633-020-1254-z

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