Work

Nonlinear Control of Mecanum-Wheeled Robots Applying H∞Controller

Year: 2025

Type: conference-paper

Abstract: The growing demand for highly maneuverable mobile robots today drives Mecanum-wheeled robot popularity in industrial automation, logistics, and service robotics. These omnidirectional robots have features that enable them to run appropriately in conditions requiring exact motion control. Nevertheless, low-level control techniques for these robots are still challenging to apply because of their nonlinear dynamics and external perturbations, including wheel friction and slip-page.

Source: IEEE International Conference on Autonomous Robot Systems and Competitions

DOI: 10.1109/icarsc65809.2025.10970160

Authors: Arezki Abderrahim Chellal, João Braun, José Lima, Jose Gonçalves, Antonio Valente, Paulo Costa

Institutions: Universidade Politécnica de Bragança, Research Centre in Digitalization and Intelligent Robotics, University of Trás-os-Montes and Alto Douro, Universidade do Porto, INESC TEC

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4409797295

FWCI: 2.402

Cites: 14

Cited by: 1

Related to: 10