Paper Info
Title
A new dynamic control model with stability analysis for omnidirectional mobile robot
Abstract
This paper proposes a new dynamic control model with stability analysis for an omnidirectional mobile robot. In particular, the dynamical model uses a feedback linearization for the control in order to follow a given trajectory. To do this, a PID controller is practically considered for controlling the motion of the mobile robot. In order to prove the stability of the proposed system, Lyapunov stability function is used which gives a guarantee for the asymptotical stability. The simulations and experimental results are carried out with the dynamic control method which leads the stability of the mobile robot during circular path navigation. A three-wheels omnidirectional mobile robot is considered for the purpose of simulation and experimental studies.
Year
DOI
Venue
2015
10.1145/2783449.2783484
AIR
Field
DocType
Citations 
Data mining,Robot control,Lyapunov function,Robot calibration,PID controller,Control theory,Computer science,Simulation,Feedback linearization,Lyapunov stability,Trajectory,Mobile robot
Conference
0
PageRank 
References 
Authors
0.34
11
3
Name
Order
Citations
PageRank
Gossaye Mekonnen100.34
Sanjeev Kumar22727139.04
Pushparaj Mani Pathak34710.79