Trajectory Tracking Control of a Flexible Mobile Robot using Disturbance Observer
Hiroyuki Kojima*, Toshihilo Hashimoto** and Sadao Shimoyama***
*Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan
**Material Handling Equipment Design Dept., Hitachi Kiden Kogyo, Ltd., 908, Tadakari-cho, Ota-shi, 373-0011, Japan
***Manufacturing Engineering Research Center, Toshiba Corporation, 33, Shin-Isogo-cho, Isogo-ku, Yokohama, 235-0017, Japan
This paper describes trajectory tracking control for a flexible mobile robot using a disturbance observer. The robot consists of a wheeled mobile mechanism and a flexible structure of four flexible beams and a work table. Trajectory tracking control is compound control of a disturbance observer and feedforward compensation two-degree-of-freedom (2DOF) controller. The feedforward compensation 2DOF controller consists of a feedforward controller and a state feedback controller. Experimental and numerical simulation results confirmed that trajectory tracking control of the robot work table is possible with trajectory control using the disturbance observer.