research-article

Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot

Authors:

Veer Alakshendra,

Shital S. Chiddarwar,

Gajanan Nikhade,

Abhishek Jha,

Saumya Ranjan SahooAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 20, Pages 1 - 6

https://doi.org/10.1145/3132446.3134884

Published: 28 June 2017 Publication History

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Abstract

Lately, utilization of portable robots has come up as an insurgency in different applications, scholarly rivalries and so on. Out of numerous versatile robots, omnidirectional portable robots has picked up prominence because of its high mobility. This paper, presents the tracking capability of a mobile robot with four Mecanum wheels in presence of the uncertainties. For the task, first equation of motion has been derived. Then, a robust controller is proposed to track the reference trajectory. Simulation results for a nonlinear trajectory proves the efficacy of the proposed controller.

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Cited By

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Zhao TQin PDian SGuo B(2024)Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural networkInformation Sciences: an International Journal10.1016/j.ins.2023.119819654:COnline publication date: 27-Feb-2024
https://dl.acm.org/doi/10.1016/j.ins.2023.119819
Guo T(2022)Trajectory tracking control of the Mecanum wheeled mobile robot based on the SMC methodsSixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021)10.1117/12.2624231(136)Online publication date: 7-Feb-2022
https://doi.org/10.1117/12.2624231
Abdelrahim MHassan AOjo DHosny MAmmar HEl-Samanty M(2022)A Novel Design of a T-Model Three Mecanum Wheeled Mobile Robot2022 International Conference on Advanced Robotics and Mechatronics (ICARM)10.1109/ICARM54641.2022.9959189(509-513)Online publication date: 9-Jul-2022
https://doi.org/10.1109/ICARM54641.2022.9959189
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Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot
1. Hardware

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Published In

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

© 2017 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

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IIT-Delhi: IIT-Delhi

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Association for Computing Machinery

New York, NY, United States

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Published: 28 June 2017

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AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

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Overall Acceptance Rate 69 of 140 submissions, 49%

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Zhao TQin PDian SGuo B(2024)Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural networkInformation Sciences: an International Journal10.1016/j.ins.2023.119819654:COnline publication date: 27-Feb-2024
https://dl.acm.org/doi/10.1016/j.ins.2023.119819
Guo T(2022)Trajectory tracking control of the Mecanum wheeled mobile robot based on the SMC methodsSixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021)10.1117/12.2624231(136)Online publication date: 7-Feb-2022
https://doi.org/10.1117/12.2624231
Abdelrahim MHassan AOjo DHosny MAmmar HEl-Samanty M(2022)A Novel Design of a T-Model Three Mecanum Wheeled Mobile Robot2022 International Conference on Advanced Robotics and Mechatronics (ICARM)10.1109/ICARM54641.2022.9959189(509-513)Online publication date: 9-Jul-2022
https://doi.org/10.1109/ICARM54641.2022.9959189
Mellah SGraton GEL-Adel EOuladsine MPlanchais A(2022)Trajectory Tracking and Time Delay Management of Four-Mecanum Wheeled Mobile Robots (4-MWMR)15th European Workshop on Advanced Control and Diagnosis (ACD 2019)10.1007/978-3-030-85318-1_74(1297-1310)Online publication date: 14-Jun-2022
https://doi.org/10.1007/978-3-030-85318-1_74
Jianbin WJianping C(2019)An Adaptive Sliding Mode Controller for Four-wheeled Omnidirectional Mobile Robot with Input Constraints2019 Chinese Control And Decision Conference (CCDC)10.1109/CCDC.2019.8832894(5591-5596)Online publication date: Jun-2019
https://doi.org/10.1109/CCDC.2019.8832894

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Motion control and trajectory tracking control for a mobile robot via disturbance observer

Time varying backstepping control for trajectory tracking of mobile robot

Robust adaptive control for mobile manipulators

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