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

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DOI: 10.4236/ica.2013.42021    8,648 Downloads   11,768 Views   Citations

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.

Conflicts of Interest

The authors declare no conflicts of interest.

Cite this paper

Lin, L. and Shih, H. (2013) Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot. Intelligent Control and Automation, 4, 166-179. doi: 10.4236/ica.2013.42021.

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