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Research of omnidirectional mobile robot robust PI control based on H∞ control μ comprehensive method

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DOI: 10.23977/AICT2020053


Longning Wang, Kunpeng Liu, Fengshan Lin, Zijie Niu

Corresponding Author


The omnidirectional mobile robot based on Mecanum wheel is very easy to slide in the course of driving, resulting in the actual course deviation from the set value,in order to improve the accuracy of the omnidirectional mobile robot driving course, an H∞ control μ comprehensive method is proposed for real-time course correction of Omnidirectional mobile robot. Through the 4 steps of H∞ problem standardize, μ comprehensive design, select weight function and D-K iterative algorithm design, the real-time correction of the robot's running direction is realized, and the problems of course deflection and movement instability are solved. The algorithm based on μ comprehensive robust PI control based on H∞ control has good control performance, which satisfies the disturbance suppression performance of nonlinear system and achieves good control effect.


Mecanum wheel; Omnidirectional mobile robot; μ comprehensive robust PI control based on H∞ control; Course Angle deviation; correction

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