Abstract
The application and implementation of portable mobile robots are increasing in industrial and warehouse environments. A robot that can efficiently maneuver in confined spaces is perfectly suited for such a task. One such variety is omniwheeled mobile robots. In the paper, we present the design of a robust control policy for the accurate trajectory tracking of four-wheeled mecanum mobile robot in the presence of external uncertainties and disturbances. In the beginning, the kinematical and the dynamical modeling of the mobile robot are performed. Afterwards, a robust control policy is designed and implemented. The efficacy of the proposed controller was tested on a reference trajectory. Simulation results prove that the proposed controller tracks trajectory with greater accuracy than other standard controllers.
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Islam, Z.U., Sahoo, S.R., Saad, M., Tople, U., Khandare, A. (2021). Robust Backstepping Controller for an Omniwheeled Mobile Robot with Uncertainties and External Disturbances. In: Kalamkar, V., Monkova, K. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-3639-7_5
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DOI: https://doi.org/10.1007/978-981-15-3639-7_5
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