Programs
- M. Tech. in Automotive Engineering -
- B. Sc. Clinical Nutrition, Dietetics, and Food Science - Undergraduate
Publication Type : Conference Proceedings
Publisher : AIR-17
Source : Proceedings of the Third International Conference on Advances in Robotics (AIR-17).
Url : https://dl.acm.org/doi/10.1145/3132446.3134884
Campus : Chennai
School : School of Engineering
Department : Mechanical Engineering
Year : 2017
Abstract : Lately, utilization of portable robots has come up as an insurgency in different applications, scholarly rivalries and so on. Out of numerous versatile robots, omnidirectional portable robots has picked up prominence because of its high mobility. This paper, presents the tracking capability of a mobile robot with four Mecanum wheels in presence of the uncertainties. For the task, first equation of motion has been derived. Then, a robust controller is proposed to track the reference trajectory. Simulation results for a nonlinear trajectory proves the efficacy of the proposed controller.
Cite this Research Publication : Alakshendra, V., Chiddarwar S.S., and Jha, A. (2017) Robust Trajectory Tracking Control for an Omnidirectional Mobile Robot, Proceedings of the Third International Conference on Advances in Robotics (AIR-17).