Modeling and Adaptive Fuzzy Control for an Omni-Directional Wheeled Robot
نویسندگان
چکیده
The dynamics model considering payload eccentricity and friction effects of an omni-directional mobile robot is first derived using Lagrange’s equation. Based on the dynamics model with uncertainty, a stable adaptive fuzzy control law is derived using the backstepping method via Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term and a fuzzy function approximator are included in the control law, and the parameters adaptation law with σ − modification is considered for the uncertainty estimation. The proposed control strategy has arbitrary trajectory following capability of simultaneous translation and rotation control for the wheeled robot. Computer simulations are used to illustrate the effectiveness of the suggested control approach. KeywordsOmni-Wheeled Robot; Dynamics Model; Backstepping Method; Adaptive Fuzzy Control; Lyapunov Stability
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