VIBRATION CONTROL OF A WHEELED MOBILE ROBOT BASED ON DISTURBANCE OBSERVER

The 2-wheel mobile robot features the ability to easily perform spin t urns and transverse motion. The problem, however, is that the robot is prone to slow damping vibration in the turning direction. Usually, a guiding algorithm controls the position and heading only. Without cons idering dynamics, it is difficult to suppress vibration. We propose a method to prevent vibration by taking the dynamics of the robot into c onsideration. A mathematical model of the robot demonstrates that the turning accelerative and elastic torques act reactively on the motors of the left and right drive wheels. Although these two torques act on each motor with equal magnitude, they have different signs. A differen ce in the reactive torques occurs, and this is thought to be the main cause of vibration. Our proposed method is to suppress vibration by im posing feedback of the difference of the reactive torques. Experiments have shown significant results in suppressing vibration by means of t his technique.