TY - JOUR
T1 - Motion control design for an omnidirectional mobile robot subject to velocity constraints
AU - Peñaloza-Mejía, Ollin
AU - Márquez-Martínez, Luis A.
AU - Alvarez, Joaquín
AU - Villarreal-Cervantes, Miguel G.
AU - García-Hernández, Ramón
N1 - Publisher Copyright:
© 2015 Ollin Peñaloza-Mejía et al.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84930680244&partnerID=8YFLogxK
U2 - 10.1155/2015/608015
DO - 10.1155/2015/608015
M3 - Artículo
SN - 1024-123X
VL - 2015
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 608015
ER -