Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

被引：11
|
作者：
Penaloza-Mejia, Ollin [1 ]
Marquez-Martinez, Luis A. [2 ]
Alvarez, Joaquin [2 ]
Villarreal-Cervantes, Miguel G. [3 ]
Garcia-Hernandez, Ramon [1 ,4 ]
机构：
[1] Inst Tecnol Sonora, Dept Ingn Elect & Elect, Obregon 85130, SON, Mexico
[2] CICESE, Dept Elect & Telecomunicac, Ensenada 22860, Baja California, Mexico
[3] Inst Politecn Nacl, CIDETEC, Dept Posgrado, Secc Mecatron, Mexico City 07700, DF, Mexico
[4] Univ Autonoma Carmen, Fac Ingn, Carmen 24180, CM, Mexico
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2015年 / 2015卷
关键词：
TRACKING CONTROL; MANIPULATORS; TORQUE; SATURATION;
D O I：
10.1155/2015/608015
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.
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收藏
页数：15
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