Abstract
This paper presents an approach to the problem of controlling mechanical objects of unspecified description, considering variable operating conditions. The controlled object is a mobile robot with mecanum wheels. The control algorithm is based on the input-output linearization method and variable structure control approach. The major contribution of this paper lies in application of new approach to control wheeled robot along desired trajectory in the present parametric and non-parametric modelling inaccuracies. To solve the control task, taking into account compensation for nonlinearity and the object variable operating conditions, the Lyapunov stability theory is applied. Basing on numerical analysis, it has been demonstrated that the tested control algorithm is robust to assumed inaccuracies in modelling.
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Hendzel, Z., Kołodziej, M. (2021). Robust Tracking Control of Omni-Mecanum Wheeled Robot. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_21
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