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Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

2015; Hindawi Publishing Corporation; Volume: 2015; Linguagem: Inglês

10.1155/2015/608015

1563-5147

Ollin Peñaloza-Mejía, Luis Alejandro Márquez–Martínez, Joaquín Álvarez, Miguel Gabriel Villarreal-Cervantes, Ramón García-Hernández,

Robotic Locomotion and Control

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.