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

M. R. Rahimi Khoygani, R. Ghasemi, P. Ghayoomi. Robust Observer-based Control of Nonlinear Multi- Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol. International Journal of Automation and Computing. doi: 10.1007/s11633-020-1254-z
 Citation: M. R. Rahimi Khoygani, R. Ghasemi, P. Ghayoomi. Robust Observer-based Control of Nonlinear Multi- Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol. International Journal of Automation and Computing.

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

###### Author Bio: 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.E-mail: mrrahimikh@gmail.com (Corresponding author)ORCID iD: 0000-0002-0231-7701 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.E-mail: r.ghasemi@qom.ac.ir 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. E-mail: pooriyaghayoomi@gmail.com
• Figure  1.  Geometric interpretation of Lyapunov′s theorem

Figure  2.  Geometric interpretation of an example of a multi-agent system

Figure  3.  Control scheme based on a leader-follower approach. Colored figures are available in the online version.

Figure  4.  Coordinate systems and geometric parameters

Figure  5.  Schematic of flexible-joint robot[48]

Figure  6.  State variables of three agents without noise

Figure  7.  State variables of three agents with noise $d(t)$

Figure  8.  State variables of three agents with noise and disturbance $d(t)$

Figure  9.  Control inputs for the multi-agent omnidirectional wheeled robot system under observer-based controller using the high order sliding mode consensus protocol and PID with noise

Figure  10.  Control inputs for the multi-agent omnidirectional wheeled robot system under observer-based controller using the high order sliding mode consensus protocol and PID with noise and disturbance

Figure  11.  State variable for the multi-agent omnidirectional wheeled robot systems under observer-based controller using the high order sliding mode consensus protocol and PID without noise

Figure  12.  State variable for the multi-agent omnidirectional wheeled robot systems under observer-based controller using the high order sliding mode consensus protocol and PID with noise

Figure  13.  State variable for the multi-agent omnidirectional wheeled robot systems under observer-based controller using the high order sliding mode consensus protocol and PID with noise and disturbance

Figure  14.  Parameters of a Mecanum wheel

Figure  15.  A multi-agent omnidirectional wheeled robot

Figure  16.  Third variable state of four agents without noise under the high order sliding mode consensus protocol

Figure  17.  Third variable state of four agents with noise under the high order sliding mode consensus protocol

Figure  18.  Third variable state of four agents with noise and disturbance under the high order sliding mode consensus protocol

•  [1] Vineet Kumar, K.P. S. Rana, Jitendra Kumar, Puneet Mishra, Sreejith S Nair.  A Robust Fractional Order Fuzzy P+Fuzzy I+Fuzzy D Controller for Nonlinear and Uncertain System . International Journal of Automation and Computing, doi: 10.1007/s11633-016-0981-7 [2] Hfaïedh Kaïs, Dahech Karim, Damak Tarak.  A Sliding Mode Observer for Uncertain Nonlinear Systems Based on Multiple Models Approach . International Journal of Automation and Computing, doi: 10.1007/s11633-016-0970-x [3] Zhen-Hong Yang, Yang Song, Min Zheng, Wei-Yan Hou.  Consensus of Multi-agent Systems Under Switching Agent Dynamics and Jumping Network Topologies . International Journal of Automation and Computing, doi: 10.1007/s11633-016-0960-z [4] Jessica Davies, Roger Dixon, Roger M. Goodall, Thomas Steffen.  Multi-agent Control of High Redundancy Actuation . International Journal of Automation and Computing, doi: 10.1007/s11633-014-0759-8 [5] Lin-Lin Ou, Jun-Jie Chen, Dong-Mei Zhang, Wei-Dong Zhang.  Distributed H∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System . International Journal of Automation and Computing, doi: 10.1007/s11633-014-0780-y [6] Wafa Bourbia, Farid Berrezzek, Bachir Bensaker.  Circle-criterion Based Nonlinear Observer Design for Sensorless Induction Motor Control . International Journal of Automation and Computing, doi: 10.1007/s11633-014-0842-1 [7] Meriem Benbrahim, Najib Essounbouli, Abdelaziz Hamzaoui, Ammar Betta.  Adaptive Type-2 Fuzzy Sliding Mode Controller for SISO Nonlinear Systems Subject to Actuator Faults . International Journal of Automation and Computing, doi: 10.1007/s11633-013-0729-6 [8] Guo-Dong Zhao, Na Duan.  A Continuous State Feedback Controller Design for High-order Nonlinear Systems with Polynomial Growth Nonlinearities . International Journal of Automation and Computing, doi: 10.1007/s11633-013-0720-2 [9] Ya-Kun Zhu, Xin-Ping Guan, Xiao-Yuan Luo.  Finite-time Consensus for Multi-agent Systems via Nonlinear Control Protocols . International Journal of Automation and Computing, doi: 10.1007/s11633-013-0742-9 [10] Lei-Po Liu,  Zhu-Mu Fu,  Xiao-Na Song.  Sliding Mode Control with Disturbance Observer for Class of Nonlinear Systems . International Journal of Automation and Computing, doi: 10.1007/s11633-012-0671-z [11] Zhong-Qiang Wu,  Yang Wang.  Dynamic Consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots . International Journal of Automation and Computing, doi: 10.1007/s11633-012-0616-6 [12] Hossein Beikzadeh, Hamid D. Taghirad.  Exponential Nonlinear Observer Based on the Differential State-dependent Riccati Equation . International Journal of Automation and Computing, doi: 10.1007/s11633-012-0656-y [13] Hong-Yong Yang,  Fu-Cai Wang,  Si-Ying Zhang.  Consensus of Second-order Multi-agent Systems with Nonsymmetric Interconnection and Heterogeneous Delays . International Journal of Automation and Computing, doi: 10.1007/s11633-011-0599-8 [14] Li He, Zheng-Hao Wang, Ke-Long Zhang.  Production Management Modelling Based on MAS . International Journal of Automation and Computing, doi: 10.1007/s11633-010-0512-x [15] Na Duan, Fu-Nian Hu, Xin Yu.  An Improved Control Algorithm for High-order Nonlinear Systems with Unmodelled Dynamics . International Journal of Automation and Computing, doi: 10.1007/s11633-009-0234-0 [16] Ahcene Boubakir, Fares Boudjema, Salim Labiod.  A Neuro-fuzzy-sliding Mode Controller Using Nonlinear Sliding Surface Applied to the Coupled Tanks System . International Journal of Automation and Computing, doi: 10.1007/s11633-009-0072-0 [17] Xiu-Yun Zheng,  Yu-Qiang Wu.  Controller Design of High Order Nonholonomic System with Nonlinear Drifts . International Journal of Automation and Computing, doi: 10.1007/s11633-009-0240-2 [18] Hai-Tao Zhang, Fang Yu, Wen Li.  Step-coordination Algorithm of Traffic Control Based on Multi-agent System . International Journal of Automation and Computing, doi: 10.1007/s11633-009-0308-z [19] J Chen,  E Prempain,  Q H Wu.  Observer-Based Nonlinear Control of A Torque Motor with Perturbation Estimation . International Journal of Automation and Computing, doi: 10.1007/s11633-006-0084-y [20] Yun Li, Hiroshi Kashiwagi.  High-Order Volterra Model Predictive Control and Its Application to a Nonlinear Polymerisation Process . International Journal of Automation and Computing, doi: 10.1007/s11633-005-0208-9

##### 计量
• 文章访问数:  15
• HTML全文浏览量:  31
• PDF下载量:  4
• 被引次数: 0
##### 出版历程
• 收稿日期:  2020-03-05
• 录用日期:  2020-09-08
• 网络出版日期:  2021-02-02

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

### English Abstract

M. R. Rahimi Khoygani, R. Ghasemi, P. Ghayoomi. Robust Observer-based Control of Nonlinear Multi- Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol. International Journal of Automation and Computing. doi: 10.1007/s11633-020-1254-z
 Citation: M. R. Rahimi Khoygani, R. Ghasemi, P. Ghayoomi. Robust Observer-based Control of Nonlinear Multi- Omnidirectional Wheeled Robot Systems via High Order Sliding-mode Consensus Protocol. International Journal of Automation and Computing.

/

• 分享
• 用微信扫码二维码

分享至好友和朋友圈