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Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates

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Abstract

This paper presents an adaptive robust control method for trajectory tracking and path following of an omni-directional wheeled mobile platform with actuators’ uncertainties. The polar-space kinematic model of the platform with three independent driving omnidirectional wheels equally spaced at 120  from one another is briefly introduced, and the dynamic models of the three uncertain servomotors mounted on the driving wheels are also described. With the platform’s kinematic model and the motors’ dynamic model associated two unknown parameters, the adaptive robust controller is synthesized via the integral backstepping approach. Computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed control method in comparison with a conventional PI feedback control method.

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Authors and Affiliations

  1. Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung, 402, Taiwan

    Hsu-Chih Huang & Ching-Chih Tsai

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  1. Hsu-Chih Huang
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  2. Ching-Chih Tsai
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Correspondence to Ching-Chih Tsai.

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Huang, HC., Tsai, CC. Adaptive Robust Control of an Omnidirectional Mobile Platform for Autonomous Service Robots in Polar Coordinates. J Intell Robot Syst 51, 439–460 (2008). https://doi.org/10.1007/s10846-007-9196-z

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  • DOI: https://doi.org/10.1007/s10846-007-9196-z

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