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Nonlinear control of mecanum-wheeled robots applying H∞controller

2025Conference paper Open access
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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.fosEngenharia e Tecnologia::Outras Engenharias e Tecnologias
datacite.subject.sdg11:Cidades e Comunidades Sustentáveis
datacite.subject.sdg04:Educação de Qualidade
dc.contributor.authorChellal, Arezki Abderrahim
dc.contributor.authorBraun, João A.
dc.contributor.authorLima, José
dc.contributor.authorGonçalves, José
dc.contributor.authorValente, Antonio
dc.contributor.authorCosta, Paulo
dc.date.accessioned2025-12-12T12:12:29Z
dc.date.available2025-12-12T12:12:29Z
dc.date.issued2025
dc.description.abstractMecanum wheeled mobile robots have become relevant due to their excellent maneuverability, enabling omnidirectional motion in constrained environments as a requirement in industrial automation, logistics, and service robotics. This paper addresses a low-level controller based on the H-Infinity (H-infinity) control method for a four-wheel Mecanum mobile robot. The proposed controller ensures stability and performance despite model uncertainties and external disturbances. The dynamic model of the robot was developed and introduced in MATLAB to generate the controller. Further, the controller's performance is validated and compared to a traditional PID controller using the SimTwo simulator, a realistic physics-based simulator with dynamics of rigid bodies incorporating non-linearities such as motor dynamics and friction effects. The preliminary simulation results show that the H-infinity reached a time-independent Euclidean error of 0.0091 m, compared to 0.0154 m error for the PID in trajectory tracking. Demonstrating that the H-infinity controller handles nonlinear dynamics and disturbances, ensuring precise trajectory tracking and improved system performance. This research validates the proposed approach for advanced control of Mecanum wheeled robots.eng
dc.description.sponsorshipThis work was supported by national funds through FCT/MCTES (PIDDAC): CeDRI, UIDB/05757/2020 (DOI:10.54499/UIDB/05757/2020) and UIDP/05757/2020 (DOI: 10.54499/UIDB/05757/2020); SusTEC, LA/P/0007/2020 (DOI:10.54499/LAP/0007/2020). Arezki A. Chellal is grateful to the FCT Foundation for its support through the FCT PhD scholarship with reference UI/BD/154484/2022.
dc.identifier.citationChellal,Arezki Abderrahim; Braun, João; Lima, José; Gonçalves, José; Valente, Antonio; Castro, Paulo (2025). Nonlinear control of mecanum-wheeled robots applying H∞controller. In International Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual. Funchal, Portugal. p.164-169
dc.identifier.doi10.1109/icarsc65809.2025.10970160
dc.identifier.urihttp://hdl.handle.net/10198/35213
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
dc.relation.ispartof2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
dc.rights.urihttp://creativecommons.org/licenses/by-nd/4.0/
dc.subjectMecanum robot
dc.subjectH-Infinity (H-infinity)
dc.subjectPosition controller
dc.subjectTrajectory tracking
dc.titleNonlinear control of mecanum-wheeled robots applying H∞controllereng
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleAssociate Laboratory for Sustainability and Tecnology in Mountain Regions
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/LA%2FP%2F0007%2F2020/PT
oaire.citation.conferenceDate2025
oaire.citation.conferencePlaceFunchal, Portugal
oaire.citation.endPage169
oaire.citation.startPage164
oaire.citation.titleInternational Conference on Autonomous Robot Systems and Competitions-ICARSC-Annual
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameChellal
person.familyNameBraun
person.familyNameLima
person.familyNameGonçalves
person.givenNameArezki Abderrahim
person.givenNameJoão A.
person.givenNameJosé
person.givenNameJosé
person.identifierR-000-8GD
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person.identifier.orcid0000-0002-9190-6865
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0002-5499-1730
person.identifier.ridL-3370-2014
person.identifier.ridB-8547-2018
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id48361230200
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
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