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2017 | OriginalPaper | Buchkapitel

Nonlinear Control of Omnidirectional Mobile Platforms

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

Erschienen in: Intelligent Robotics and Applications

Verlag: 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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Titel: Nonlinear Control of Omnidirectional Mobile Platforms
verfasst von: Víctor H. Andaluz
Oscar Arteaga
Christian P. Carvajal
Víctor D. Zambrano
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-319-65297-9

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

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-65298-6_33

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