Path-Tracking Dynamic Model Based Control of an Omnidirectional Mobile Robot

Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in this work is addressed the Path-tracking control problem of this class of systems. The solution of the problem is obtained by considering some suitable modifications of the well known computed-torque control strategy usually used on the field of robot manipulators. The modifications considered in this work are due to the structural differences between a mobile robot and a classical rigid robot manipulator. It is formally proved that the proposed control strategy allows the convergence of the tracking errors and assures the closed loop stability of the system. The tracking strategy is evaluated by simulation, showing an acceptable performance.