N. M., Adam and Addie, Irawan (2021) Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control. In: Innovative Manufacturing, Mechatronics & Materials Forum (iM3F 2021) , 20 September 2021 , Universiti Malaysia Pahang (Virtual). pp. 1-10.. (Unpublished)
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Abstract
This paper presents the velocity-based impedance control that would account for the inertia forces acting on the omnidirectional wheeled vehicle duriing cornering motions. As favorable omni-vehicle, omnidirectional mecanum wheeled vehicle (OMWV) was selected as a platform in this study. Concerning the problem statements in the dynamic analyses, the control design has considered the difference in vehicle forces because the vehicle's interaction forces were indirectly controlled by the vehicle's velocities. The axial velocities control of the OMWV, vertical and horizontal axial motions on cornering periods were highlighted in this research. The simulation results show that with velocity inputs, the different forces on the OMWV axial motion of the vehicle could be reduced. Furthermore, the reduction in vehicle velocity influenced the overall kinetic energy of the system, which reduced the inertia effect.
| Item Type: | Conference or Workshop Item (Lecture) |
|---|---|
| Uncontrolled Keywords: | Cornering Stability, Omnidirectional Wheeled Vehicle, Motion Control, Inertia Control, Compliance, and Impedance Control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Institute of Postgraduate Studies Faculty of Electrical and Electronic Engineering Technology |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 26 Jan 2022 02:36 |
| Last Modified: | 26 Jan 2022 02:36 |
| URI: | http://umpir.ump.edu.my/id/eprint/33288 |
| Download Statistic: | View Download Statistics |
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