Nonlinear control of omnidirectional mobile platforms

Abstract:

This work presents kinematic modeling and a kinematic nonlinear controller of an omnidirectional mobile platform that generates saturated reference velocity commands for path following problem. The dynamic compensation controller is considered through of a platform-inner-loop system to independently track four velocity commands. Stability and robustness of the complete control system are proved through the Lyapunov method. Finally, simulation results are presented and discussed, which validate the proposed controller.

Año de publicación:

2017

Keywords:

• Omnidirectional
• Nonlinear controller
• Kinematic modeling
• Non-linear systems
• Lyapunov

Fuente:

google

scopus