Dynamics and Robust Adaptive Controller of Three Wheel Omnidirectional Mobile Robot

摘要

In this study, a novel adaptive controller of the Omnidirectional Mobile Robot (OMR) is proposed for a certain class of unknown nonlinear dynamical systems. The proposed controller was designed by incorporating 2 types of control methods. One is an adaptive controller, and the other is an adaptive tuner. While the adaptive controller is designed using a back-stepping controller that would act as the main tracking controller, the adaptive tuner derived in the sense of Lyapunov stability theorem was utilized to adjust the parameter on-line for further assuring robust and optimal performance. To verify its effectiveness and extend its application, the proposed controller was applied to the path tracking of an Omnidirectional Mobile Robot, whose salient performance is verified by numerical simulation and whose advantages are presented compared with conventional controller scheme under the same environment.