Motion control design for an omnidirectional mobile robot subject to velocity constraints (Q1666125): Difference between revisions
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Revision as of 05:04, 16 February 2024
scientific article
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English | Motion control design for an omnidirectional mobile robot subject to velocity constraints |
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Motion control design for an omnidirectional mobile robot subject to velocity constraints (English)
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27 August 2018
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Summary: A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.
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