H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” IEEE International Conference on Robotics and Automation, Nagoya, 1995, pp. 1925-1930.

has been cited by the following article:

• 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.