TITLE:
Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot
AUTHORS:
Lih-Chang Lin, Hao-Yin Shih
KEYWORDS:
Mecanum-Wheeled Mobile Robot; Dynamics Model; Backstepping Adaptive Control; Lyapunov Stability
JOURNAL NAME:
Intelligent Control and Automation,
Vol.4 No.2,
May
24,
2013
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.