Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot

Abstract

Lately, utilization of portable robots has come up as an insurgency in different applications, scholarly rivalries and so on. Out of numerous versatile robots, omnidirectional portable robots has picked up prominence because of its high mobility. This paper, presents the tracking capability of a mobile robot with four Mecanum wheels in presence of the uncertainties. For the task, first equation of motion has been derived. Then, a robust controller is proposed to track the reference trajectory. Simulation results for a nonlinear trajectory proves the efficacy of the proposed controller.