Hybrid and flexible auxiliary control law for an omnidirectional mobile base by using a singular perturbations approach in ROS (Robot Operating System)
César Augusto Peña Fernández1; Jés de Jesus Fiais Cerqueira2; Antônio Marcos Nogueira Lima3
1 Instituto Federal da Bahia; 2 Universidade Federal da Bahia; 3 Universidade Federal de Campina Grande
Resumo
Recent works related with the authors present alternative approaches in order to improve the performance of the controllers designed to compensate the influence of slipping and skidding into the tracking trajectory problems. With aid these approaches, in work reported here it will be proposed one controller based on three theoretical tools: the singular perturbations theory to understand the dynamic behavior, an auxiliary control law to impose a dynamic to the control scheme and a feedfoward law based on measures of slipping and skidding from desired trajectory. By using the ROS framework, the controller proposed is used to verify the effectiveness of the trajectory tracking compared to the tracking case without feedforward law. The results show that that methodology increase the accuracy of the tracking when the feedforward is used.
Palavras-chave: Omnidirectional robots; flexibility; slipping variations; skidding variations; singular perturbations; robot operating system (ROS)