MATEC Web Conf.
Volume 256, 2019The 5th International Conference on Mechatronics and Mechanical Engineering (ICMME 2018)
|Number of page(s)||4|
|Section||Mechanical and Control Engineering|
|Published online||23 January 2019|
Trajectory tracking for omnidirectional mecanum robot with longitudinal slipping
School of Mechanical and Electric Engineering, Soochow University, 215006, Suzhou, China
This paper propose an adaptive control law for an omnidirectional mecanum robot under longitudinal slip conditions. Firstly, the control law under pure rolling is obtained on the base of Lyapunov function, and the stability of the close-loop is proved. Secondly, four unknown parameters are used to describe the wheel slip coefficient, and the tracking error differential equations under longitudinal slip are established. Then, an adaptive nonlinear feedback controller is constructed, and using an appropriate Lyapunov function to ensure the close-loop system is stable. Matlab/Simulation result confirms the effectiveness of the proposed approach.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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