Trajectory tracking for omnidirectional mecanum robot with longitudinal slipping

Abstract

This paper propose an adaptive control law for an omnidirectional mecanum robot under longitudinal slip conditions. Firstly, the control law under pure rolling is obtained on the base of Lyapunov function, and the stability of the close-loop is proved. Secondly, four unknown parameters are used to describe the wheel slip coefficient, and the tracking error differential equations under longitudinal slip are established. Then, an adaptive nonlinear feedback controller is constructed, and using an appropriate Lyapunov function to ensure the close-loop system is stable. Matlab/Simulation result confirms the effectiveness of the proposed approach.