Comparison of dynamic model-based control algorithms for trajectory tracking in an omnidirectional robot

Abstract

This paper presents the comparison of a PD+ and a Backstepping control scheme for the position tracking control of an Omnidirectional Mobile Robot (OMR). Both controllers are based on a candidate Lyapunov function, resulting in a control scheme that depends on parameters of the system dynamic model. For the above, it is required to know the robot mathematical model, which is described in this work. The mathematical model and the control algorithms developed are simulated in Matlab/simulink, thus validating the proposals behaviour. The results consider the presence of disturbances and the analysis of performance indices based on the error. In this way, it is shown that the Backstepping controller more accurately follows the desired path in the X-Y plane compared to the PD+ controller.