Parametric Uncertainties Prone Adaptive Control Method for Omni Directional Vehicle

摘要

The trajectory tracking problem of a wheeled omnidirectional robot is addressed in this paper. The proposed controller takes into account the dynamics of the wheeled omnidirectional robot when adaptive linear control with computed torque is utilized for tracking its trajectory. The computed torque method was employed to follow a reference trajectory but there were certain degrees of uncertainties in parameters such as estimation of mass and inertia which caused the performance to deviate from the ideal case. The adaptive linear control method is used to overcome the degradation of the computed torque when there is drift in vehicle parameters. Lyapunov stability criteria was utilized to prove that the proposed adaptive linear control with computed torque method is stable. The proposed strategy was evaluated through numerical simulation which showed the better performance in tracking a reference signal of the adaptive linear control with computed torque method as compared to computed torque method only.