Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot

Lih-Chang Lin, Hao-Yin Shih

Department of Mechanical Engineering, National Chung Hsing University, Taichung.

DOI: 10.4236/ica.2013.42021                

Abstract

The complete dynamics model of a four-Mecanum-wheeled robot considering mass eccentricity and friction uncertainty is derived using the Lagrange’s equation. Then based on the dynamics model, a nonlinear stable adaptive control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameter update law with σ-modification is considered for the uncertainty estimation. Computer simulations are conducted to illustrate the suggested control approach.

Keywords

Mecanum-Wheeled Mobile Robot; Dynamics Model; Backstepping Adaptive Control; Lyapunov Stability

Conflicts of Interest

The authors declare no conflicts of interest.

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