Dynamic Modeling and Tracking of 3-Wheels Omni-Directional Mobile Robot with Manual PID Tuning Method

Authors

• Soe Soe Htay, Mechatronic Engineering Department, Mandalay Technological University, MyanmarFollow
• Khaing Win Phyu, Mechatronic Engineering Department, Mandalay Technological University, Myanmar
• Su Yadanar, Mechatronic Engineering Department, Mandalay Technological University, Myanmar
• Wut Yi Win, Mechatronic Engineering Department, Mandalay Technological University, Myanmar
• Min Thu Soe, Faculty of Engineering and Technology, Multimedia University, Malaysia

Keywords

holonomic, kinematic, dynamic model, PID controller, non-linear, omni-directional robot

Document Type

Research Article

Abstract

This paper presents the dynamic modelling and tracking control of a holonomic 3-wheel omni-directional mobile robot. A proportional integral derivative (PID) controller is used, and its performance depends on the dynamic model’s accuracy. The controller design for the switched non-linear system is based on both a dynamic model and a kinematic design. A proposed dynamic model averages the contact radius of the 3-wheels. The resultant dynamic model, on average, is non-linear and smooth, serving as a potential solution for model-based control design. The closed-loop simulation results clearly illustrate the dynamic characteristics of the 3-wheels omni-directional mobile robot, offering valuable insights into its behaviour for further analysis and optimisation. Comparative simulation results using MATLAB are presented and demonstrate the effectiveness and legitimacy of the control mechanism

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Recommended Citation

Htay, Soe Soe; Phyu, Khaing Win; Yadanar, Su; Win, Wut Yi; and Soe, Min Thu (2024) "Dynamic Modeling and Tracking of 3-Wheels Omni-Directional Mobile Robot with Manual PID Tuning Method," Platform: A Journal of Engineering (PAJE): Vol. 8: Iss. 2, Article 6.
DOI: https://doi.org/10.61762/pajevol8iss2art27051
Available at: https://journal.utp.edu.my/paje/vol8/iss2/6

Publication Date

28-6-2024

First Page

46

Last Page

56