Trajectory Tracking Control of Four Omni-wheels Robot using PID and Pole Placement State Feedback Controller for Telepresence Robot Applications

This research discusses an approach for controlling omni-wheel robots that will be used in telepresence robot applications. The first approach uses the pole placement method to control the motion of the inner loop, whereas the second employs the PID method to control the robot of the outer loop. The results demonstrate that the pole placement approach effectively controls the robot’s speed movement, whereas PID control can control the robot along the Y-axis. The system response in the simulations accurately followed the desired target trajectories. However, there is a performance delay observed in trajectory tracking along the X-axis, resulting in a 0.2m error after 1 s. Conversely, for trajectory tracking along the Y-axis, the actual performance successfully matches the provided reference, with an error of -0.04 within a 0.2-second duration. In the case of tracking the yaw angle with a target of 1 rad, the system consistently maintained excellent performance within a 2-second interval. Although response delays persist for the X-axis, Y-axis, and yaw angles, they continue to closely follow the desired targets. This research demonstrates that both control approaches can effectively control the motion of an omni-wheel robot according to the desired trajectories.