Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise
Pulse width modulation (PWM) control is investigated for the Mecanum-wheeled mobile robot (MWMR) driven by servo motors with random disturbance. As a preliminary, PWM strategy of random nonlinear systems is obtained by the aid of the functional analysis tool. A smooth voltage controller is presented...
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10843704/ |
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| author | Ruijie Yin Zhaojing Wu Likang Feng |
| author_facet | Ruijie Yin Zhaojing Wu Likang Feng |
| author_sort | Ruijie Yin |
| collection | DOAJ |
| description | Pulse width modulation (PWM) control is investigated for the Mecanum-wheeled mobile robot (MWMR) driven by servo motors with random disturbance. As a preliminary, PWM strategy of random nonlinear systems is obtained by the aid of the functional analysis tool. A smooth voltage controller is presented by the backstepping technique for MWMR. Based on the boundedness of input voltage caused by direct-current motors, the optimal bounded controller is obtained by the quadratic programming method. Therefore, the optimal duty ratio is generated by the positive part and the negative part of the optimal control, the digital controller is synthesized in turns. Finally, a simulation example is given to demonstrate the efficiency of the proposed PWM scheme. |
| format | Article |
| id | doaj-art-825c00dc71334345b36a7280cde0facf |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-825c00dc71334345b36a7280cde0facf2025-01-25T00:02:21ZengIEEEIEEE Access2169-35362025-01-0113130441305110.1109/ACCESS.2025.353040510843704Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random NoiseRuijie Yin0https://orcid.org/0000-0001-9382-5498Zhaojing Wu1https://orcid.org/0000-0002-7611-1167Likang Feng2Institute of Automation, Qufu Normal University, Qufu, Shandong, ChinaSchool of Mathematics and Informational Science, Yantai University, Yantai, Shandong, ChinaSchool of Mathematics and Informational Science, Yantai University, Yantai, Shandong, ChinaPulse width modulation (PWM) control is investigated for the Mecanum-wheeled mobile robot (MWMR) driven by servo motors with random disturbance. As a preliminary, PWM strategy of random nonlinear systems is obtained by the aid of the functional analysis tool. A smooth voltage controller is presented by the backstepping technique for MWMR. Based on the boundedness of input voltage caused by direct-current motors, the optimal bounded controller is obtained by the quadratic programming method. Therefore, the optimal duty ratio is generated by the positive part and the negative part of the optimal control, the digital controller is synthesized in turns. Finally, a simulation example is given to demonstrate the efficiency of the proposed PWM scheme.https://ieeexplore.ieee.org/document/10843704/Duty ratioMecanum wheelmobile robotPWMquadratic programming |
| spellingShingle | Ruijie Yin Zhaojing Wu Likang Feng Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise IEEE Access Duty ratio Mecanum wheel mobile robot PWM quadratic programming |
| title | Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise |
| title_full | Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise |
| title_fullStr | Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise |
| title_full_unstemmed | Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise |
| title_short | Pulse Width Modulation Control of Mecanum-Wheeled Mobile Robot With Random Noise |
| title_sort | pulse width modulation control of mecanum wheeled mobile robot with random noise |
| topic | Duty ratio Mecanum wheel mobile robot PWM quadratic programming |
| url | https://ieeexplore.ieee.org/document/10843704/ |
| work_keys_str_mv | AT ruijieyin pulsewidthmodulationcontrolofmecanumwheeledmobilerobotwithrandomnoise AT zhaojingwu pulsewidthmodulationcontrolofmecanumwheeledmobilerobotwithrandomnoise AT likangfeng pulsewidthmodulationcontrolofmecanumwheeledmobilerobotwithrandomnoise |