Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control
This paper presents the velocity-based impedance control that would account for the inertia forces acting on the omnidirectional wheeled vehicle duriing cornering motions. As favorable omni-vehicle, omnidirectional mecanum wheeled vehicle (OMWV) was selected as a platform in this study. Concerning t...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/33288/ http://umpir.ump.edu.my/id/eprint/33288/1/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled1.pdf http://umpir.ump.edu.my/id/eprint/33288/2/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled.pdf |
| _version_ | 1848824218432569344 |
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| author | N. M., Adam Addie, Irawan |
| author_facet | N. M., Adam Addie, Irawan |
| author_sort | N. M., Adam |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents the velocity-based impedance control that would account for the inertia forces acting on the omnidirectional wheeled vehicle duriing cornering motions. As favorable omni-vehicle, omnidirectional mecanum wheeled vehicle (OMWV) was selected as a platform in this study. Concerning the problem statements in the dynamic analyses, the control design has considered the difference in vehicle forces because the vehicle's interaction forces were indirectly controlled by the vehicle's velocities. The axial velocities control of the OMWV, vertical and horizontal axial motions on cornering periods were highlighted in this research. The simulation results show that with velocity
inputs, the different forces on the OMWV axial motion of the vehicle could be reduced. Furthermore, the reduction in vehicle velocity influenced the overall kinetic energy of the system, which reduced the inertia effect. |
| first_indexed | 2025-11-15T03:09:32Z |
| format | Conference or Workshop Item |
| id | ump-33288 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:09:32Z |
| publishDate | 2021 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-332882022-01-26T02:36:06Z http://umpir.ump.edu.my/id/eprint/33288/ Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control N. M., Adam Addie, Irawan TK Electrical engineering. Electronics Nuclear engineering This paper presents the velocity-based impedance control that would account for the inertia forces acting on the omnidirectional wheeled vehicle duriing cornering motions. As favorable omni-vehicle, omnidirectional mecanum wheeled vehicle (OMWV) was selected as a platform in this study. Concerning the problem statements in the dynamic analyses, the control design has considered the difference in vehicle forces because the vehicle's interaction forces were indirectly controlled by the vehicle's velocities. The axial velocities control of the OMWV, vertical and horizontal axial motions on cornering periods were highlighted in this research. The simulation results show that with velocity inputs, the different forces on the OMWV axial motion of the vehicle could be reduced. Furthermore, the reduction in vehicle velocity influenced the overall kinetic energy of the system, which reduced the inertia effect. 2021 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/33288/1/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled1.pdf pdf en http://umpir.ump.edu.my/id/eprint/33288/2/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled.pdf N. M., Adam and Addie, Irawan (2021) Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control. In: Innovative Manufacturing, Mechatronics & Materials Forum (iM3F 2021) , 20 September 2021 , Universiti Malaysia Pahang (Virtual). pp. 1-10.. (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering N. M., Adam Addie, Irawan Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title | Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title_full | Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title_fullStr | Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title_full_unstemmed | Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title_short | Modeling and Analysis of Omnidirectional Wheeled Vehicles Using Velocity-based Impedance Control |
| title_sort | modeling and analysis of omnidirectional wheeled vehicles using velocity-based impedance control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/33288/ http://umpir.ump.edu.my/id/eprint/33288/1/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled1.pdf http://umpir.ump.edu.my/id/eprint/33288/2/Modeling%20and%20Analysis%20of%20Omnidirectional%20Wheeled.pdf |