The package includes controllers (mainly nonlinear types) for the mobile robot (omni type). Both kinematic and dynamic controllers are implemented. The overall system is based on ROS.
-
Try to build robot model can perform with each torque wheel
-
pid controller: not perform well because robot model is nonlinear
-
kinematic controllers: best performance but with vx vy w and idea control plugin in gazebo. Need to test with wheel velocity as input
-
dynamic controllers: good performance but with more tracking error than kinematic controllers. Input is forces along three axes (maximum error 0.075(m) with x and y, 0.06(rad) with yaw)
- BacksteppingSMC: good without adding the SMC part
- SMC: robust and good performance ( max error ~ 0.05(m)) (can handle with noise but chattering, tested with noisy velocity)
Update: 10-10-2022: Add RBFNN funtion