On Adaptive Linearizing Control of Omnidirectional Mobile Robots
We discuss the design of linearizing control algorithms for a particular class of non linear systems: “omnidirectional mobile robots”. We analyse 2 kinds of control : input state linearization and input-output linearization. We discuss also the design of adaptive linearizing control to cope with lack of knowledge of the mass distribution of the payload.
KeywordsTracking Error Straight Motion Adaptive Control Algorithm Compute Torque Control Omnidirectional Mobile Robot
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