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Modeling of Digital Twin Workshop Based on Perception Data Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Nonlinear Control of Omnidirectional Mobile Platforms

Authors : Víctor H. Andaluz, Oscar Arteaga, Christian P. Carvajal, Víctor D. Zambrano

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

This work presents kinematic modeling and a kinematic nonlinear controller of an omnidirectional mobile platform that generates saturated reference velocity commands for path following problem. The dynamic compensation controller is considered through of a platform-inner-loop system to independently track four velocity commands. Stability and robustness of the complete control system are proved through the Lyapunov method. Finally, simulation results are presented and discussed, which validate the proposed controller.

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Metadata
Title
Nonlinear Control of Omnidirectional Mobile Platforms
Authors
Víctor H. Andaluz
Oscar Arteaga
Christian P. Carvajal
Víctor D. Zambrano
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_33

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