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Robust Backstepping Controller for an Omniwheeled Mobile Robot with Uncertainties and External Disturbances

  • Zeeshan Ul IslamEmail author
  • Saumya Ranjan Sahoo
  • Mohammad Saad
  • Uddesh Tople
  • Amrapali Khandare
Conference paper
  • 13 Downloads
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

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.

Keywords

Control methods Mobile robotics Robust controller Trajectory tracing Backstepping controller 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2021

Authors and Affiliations

  1. 1.Visvesvaraya National Institute of TechnologyNagpurIndia

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