Robust trajectory tracking control of omni-mobile robot with slipping of the wheels

DOI10.15507/2079-6900.21.201901.13-23MaRDI QIDQ5884896zbMATH OpenOpenAlexWikidataFDO

Authors A. S. Andreev, O. A. Peregudova

Publication date 24 March 2023

Published in Zhurnal Srednevolzhskogo Matematicheskogo Obshchestva (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://www.mathnet.ru/eng/svmo723

zbMATH Keywords

dynamical modelLyapunov functionomni-wheelslippingtrajectory tracking controlwheeled mobile robot

Mathematics Subject Classification ID

Integro-partial differential equations (45K05)

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(5)

• Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance
• On the motion of a three-wheel robot with slip of driver wheels
• Modeling and motion simulation of a three-wheeled mobile robot with front wheel driven and steered taking into account wheels' slip
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• A general update rule for Lyapunov-based adaptive control of mobile robots with wheel slip

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