Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot

被引：0

作者：

Alakshendra, Veer ^{[1
]}

Chiddarwar, Shital S. ^{[1
]}

Nikhade, Gajanan ^{[2
]}

Jha, Abhishek ^{[1
]}

Sahoo, Saumya Ranj An ^{[1
]}

机构：

[1] VNIT Nagpur, Dept Mech Engn, POB 440010, Nagpur, Maharashtra, India

[2] RCOEM Nagpur, Dept Mech Engn, POB 440013, Nagpur, Maharashtra, India

来源：

PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17) | 2017年

关键词：

Trajectory tracking; robust controller; Mecanum wheels; sliding mode control;

D O I：

10.1145/3132446.3134884

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Lately, utilization of portable robots has come up as an insurgency in different applications, scholarly rivalries and so on. Out of numerous versatile robots, omnidirectional portable robots has picked up prominence because of its high mobility. This paper, presents the tracking capability of a mobile robot with four Mecanum wheels in presence of the uncertainties. For the task, first equation of motion has been derived. Then, a robust controller is proposed to track the reference trajectory. Simulation results for a nonlinear trajectory proves the efficacy of the proposed controller.

引用

页数：6

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