Research on Co-simulation of Omni-directional Mobile Platform Based on ADAMS and MATLAB

DOI

10.2991/ifmeita-16.2016.104How to use a DOI?

Keywords

Omni-directional mobile platform; Fuzzy-PID; Co-simulation; ADAMS; MATLAB

Abstract

Omni-directional mobile platform has a unique advantage in the narrow space or the occasion where needs to turn round frequently. In this paper, the model of omni-directional mobile platform with four Mecanum wheels is established in ADAMS, and the four-wheel control system is designed in MATLAB/Simulink, then the real-time data exchange is realized through data interface of ADAMS and MATLAB. Finally the co-simulation in some typical working conditions is completed, and the control performance of traditional PID controller and fuzzy adaptive PID controller are compared. The results show that the co-simulation model is reasonable; The fuzzy adaptive PID controller highly improves the stability and robustness of the mobile platform which can satisfy the actual engineering requirement.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Tang
AU  - Yong Liu
AU  - Cao Liu
AU  - Jinfeng Gu
AU  - Yaqiang Jie
AU  - Xiangyong Liu
PY  - 2016/01
DA  - 2016/01
TI  - Research on Co-simulation of Omni-directional Mobile Platform Based on ADAMS and MATLAB
BT  - Proceedings of the 2016 International Forum on Management, Education and Information Technology Application
PB  - Atlantis Press
SP  - 560
EP  - 567
SN  - 2352-5398
UR  - https://doi.org/10.2991/ifmeita-16.2016.104
DO  - 10.2991/ifmeita-16.2016.104
ID  - Tang2016/01
ER  -