Motion Tracking Control Based on an Omnidirectional Mobile Robot

In this paper, a new kind of omnidirectional mobile robot is designed, and the design of robot motion control law is carried out on this basis. Firstly, an omnidirectional mobile robot kinematic model is established to analyze the relative error system of the robot. Secondly, a feedback linearization method is used to design the robot motion target tracking control law to make the global asymptotic stabilization of the system error converging to zero, then, a high-gain observer is designed to estimate the unknown attitude angular state of the robot. Finally, the validity of the designed controller is verified by numerical simulation.