Motion control design for an omnidirectional mobile robot subject to velocity constraints

Ollin Peñaloza-Mejía, Luis A. Márquez-Martínez, Joaquín Alvarez, Miguel G. Villarreal-Cervantes, Ramón García-Hernández

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

© 2015 Ollin Peñaloza-Mejía et al. 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.
Original languageAmerican English
JournalMathematical Problems in Engineering
DOIs
StatePublished - 1 Jan 2015

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Motion Control
Motion control
Control Design
Mobile Robot
Mobile robots
Controller
Lyapunov Theory
Controllers
Passivity
Negative Feedback
Feedback
Experimental Results
Simulation

Cite this

Peñaloza-Mejía, Ollin ; Márquez-Martínez, Luis A. ; Alvarez, Joaquín ; Villarreal-Cervantes, Miguel G. ; García-Hernández, Ramón. / Motion control design for an omnidirectional mobile robot subject to velocity constraints. In: Mathematical Problems in Engineering. 2015.
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Motion control design for an omnidirectional mobile robot subject to velocity constraints. / Peñaloza-Mejía, Ollin; Márquez-Martínez, Luis A.; Alvarez, Joaquín; Villarreal-Cervantes, Miguel G.; García-Hernández, Ramón.

In: Mathematical Problems in Engineering, 01.01.2015.

Research output: Contribution to journalArticle

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