Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach

摘要

The trajectory-tracking problem for the omnidirectional mobile robot considering its dynamic model has been addressed and solved by means of a full state information time varying feedback based on a methodology that exploits the passivity properties of the exact tracking error dynamics. The asymptotic stability of the closed loop system is formally proved. Numerical simulations are proposed to illustrate the properties of the closed-loop system showing a better performance than the control obtained by the well known Computed-Torque approach.