PID control of an omnidirectional mobile platform based on an RBF neural network controller

Abstract

Purpose

Omnidirectional mobile platforms are still plagued by the problem of heading deviation. In four-Mecanum-wheel systems, this problem arises from the phenomena of dynamic imbalance and slip of the Mecanum wheels while driving. The purpose of this paper is to analyze the mechanism of omnidirectional motion using Mecanum wheels, with the aim of enhancing the heading precision. A proportional-integral-derivative (PID) setting control algorithm based on a radial basis function (RBF) neural network model is introduced.

Design/methodology/approach

In this study, the mechanism of omnidirectional motion using Mecanum wheels is analyzed, with the aim of enhancing the heading precision. A PID setting control algorithm based on an RBF neural network model is introduced. The algorithm is based on a kinematics model for an omnidirectional mobile platform and corrects the driving heading in real time. In this algorithm, the neural network RBF NN2 is used for identifying the state of the system, calculating the Jacobian information of the system and transmitting information to the neural network RBF NN1.

Findings

The network RBF NN1 calculates the deviations ?Kp, ?Ki and ?Kd to regulate the three coefficients Kp, Ki and Kd of the heading angle PID controller. This corrects the driving heading in real time, resolving the problems of low heading precision and unstable driving. The experimental data indicate that, for a externally imposed deviation in the heading angle of between 34º and ∼38°, the correction time for an omnidirectional mobile platform applying the algorithm during longitudinal driving is reduced by 1.4 s compared with the traditional PID control algorithm, while the overshoot angle is reduced by 7.4°; for lateral driving, the correction time is reduced by 1.4 s and the overshoot angle is reduced by 4.2°.

Originality/value

In this study, the mechanism of omnidirectional motion using Mecanum wheels is analyzed, with the aim of enhancing the heading precision. A PID setting control algorithm based on an RBF neural network model is introduced. The algorithm is based on a kinematics model for an omnidirectional mobile platform and corrects the driving heading in real time. In this algorithm, the neural network RBF NN2 is used for identifying the state of the system, calculating the Jacobian information of the system and transmitting information to the neural network RBF NN1. The method is innovative.

Citation

Zijie, N., Peng, Z., Cui, Y. and Jun, Z. (2022), "PID control of an omnidirectional mobile platform based on an RBF neural network controller", Industrial Robot, Vol. 49 No. 1, pp. 65-75. https://doi.org/10.1108/IR-01-2021-0015