Motion control design for an omnidirectional mobile robot subject to velocity constraints
type: Item
instance of: scholarly article
title: Motion control design for an omnidirectional mobile robot subject to velocity constraints
zbMATH Open document ID: 1394.93219
DOI: 10.1155/2015/608015
author: Ollin Peñaloza-Mejía
author: Miguel G. Villarreal-Cervantes
author: Ramon Garcia-Hernandez
author: Luis Alejandro Marquez-Martinez
author: Joaquín Alvarez
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6926772
Wikidata QID: Q59119542
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/608015
OpenAlex ID: W1541565875
cites work: Nonlinear control of wheeled mobile robots
cites work: Linear Observer-Based Active Disturbance Rejection Control of the Omnidirectional Mobile Robot
cites work: Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
cites work: Nonlinear systems.
cites work: Dissipative systems analysis and control. Theory and applications
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description: scientific article; zbMATH DE number 6926772