Trajectory-tracking dynamic control of an omnidirectional mobile robot

Abstract

In this paper, the trajectory-tracking control problem of an omnidirectional mobile robot (also known as a type (3,0)) is addressed and solved. The proposed controller takes into account the mobile robot dynamic model and it is based on a particular passivity-based control formulation, widely applied in power electronics, resulting in linear time-varying controllers. It is formally proved that the proposed control strategy allows the exponentially asymptotic convergence of the tracking errors to zero and assures closed loop stability. The proposed tracking strategy is evaluated by numerical simulations and compared with the well known Computed-Torque control strategy, exhibiting an improved performance.