Modeling and Adaptive Control of an Omni-Mecanum-Wheeled Robot

作     者：Lih-Chang Lin Hao-Yin Shih 

作者机构：Department of Mechanical Engineering National Chung Hsing University Taichung Chinese Taipei 

出 版 物：《Intelligent Control and Automation》 (智能控制与自动化（英文）)

年 卷 期：2013年第4卷第2期

页      面：166-179页

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

主　　题：Mecanum-Wheeled Mobile Robot Dynamics Model Backstepping Adaptive Control Lyapunov Stability 

摘      要：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.