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摘要
MY wheel-II is one of switch omnidirectional wheel mechanisms. The omnidirectional mobile robot based on MY wheels-II is a switched non-linear system (i.e. discontinuous system). The aim of this paper is to propose a continuous modeling approach which can be employed to derive a continuous model from any given discontinuous robot dynamic model. This approach results in a continuous non-linear parameter varying (NLPV) model, and offers one solution for model-based control design. Firstly, our previously proposed average dynamic modeling approach is analyzed. We find that this modeling approach is effective only for a specific class of robot configurations. To overcome this problem, we first derive the switching conditions of MY wheel-II. Based on derived switching conditions, we then propose a simple continuous NLPV modeling approach. The new approach replaces the real discontinuous contact radius in the discontinuous dynamic model with an adaptive continuous curve. An illustrative example of the adaptive continuous curve design is provided. Both simulation and experimental results verify the effectiveness of the proposed NLPV modeling approach against the average modeling approach.
