On Adaptive Linearizing Control of Omnidirectional Mobile Robots

  • G. Campion
  • G. Bastin
Part of the Progress in Systems and Control Theory book series (PSCT, volume 4)


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.


Tracking Error Straight Motion Adaptive Control Algorithm Compute Torque Control Omnidirectional Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Campion G., Bastin G., Rolin D., Raucent B. (1988) “External linearization control for an omnidirectional mobile robot” Proc IFAC-SYROCO-1988 Karlsruhe pp 71.1–71.6.Google Scholar
  2. Middleton R., Goodwin G.C. (1986) “Adaptive computed torque control for rigid link manupulators” IEEE 25th CDC - Athens Dec.1986 pp 68–73Google Scholar
  3. Muir P.F., Neuman C.P. (1987) “Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot” Proc IEEE Symp. on Robotics and Automation Ap1987 - pp 1772–1778CrossRefGoogle Scholar

Copyright information

© Birkhäuser Boston 1990

Authors and Affiliations

  • G. Campion
  • G. Bastin

There are no affiliations available

Personalised recommendations