Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot

• 作者: Hao-Yin Shih Lih-Chang Lin
• 来源期刊: 智能控制与自动化(英文)
• 学科: 工学
• 关键词: Mecanum-Wheeled Mobile ROBOT Dynamics Model BACKSTEPPING Adaptive Control LYAPUNOV Stability
• 年，卷（期）: 2013,（2）
• 页码范围: 166-179
• 页数: 14页
• 分类号: TP2

摘要

The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach.