| Title: | OS5-5 Trajectory Tracking Control for Omnidirectional Mobile Robots with Input Constraints |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 373-376 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.OS5-5 |
| Author(s): | Wenhao Zheng, Yingmin Jia |
| Publication Date: | January 29, 2016 |
| Keywords: | omnidirectional mobile robot, tracking control, input constraints, time-varying feedback control |
| Abstract: | In this paper, a trajectory tracking controller based on kinematics for omnidirectional mobile robots with input constraints is presented. The tracking error model with the control law is proved to be global asymptotic stability by Lyapunov stability theory. The input limits can be described as an octahedron in three-dimensional space, so that a spatial vector analysis method is proposed to design time-varying feedback parameters to limit robot inputs. Simulation results show the feasibility and effectiveness of the control strategy. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/OS/OS5-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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