Backstepping Control Design on the Dynamics of the Omni-Directional Mobile Robot

摘要

The dynamical model of an omni-directional mobile robot is bulit based on the Newtonian mechanics. Correspondingly, a backstepping-based controller is then proposed with proven global stability by selecting a Lyapunov function and introducing a virtual control input for the built dynamical model. Simulation results show the effectiveness of the proposed controller.