Composite nonlinear trajectory tracking control of omnidirectional mobile robots
Year: 2026
Type: conference-paper
Abstract: This paper presents a trajectory tracking control scheme for omnidirectional mobile robots (OMR) using the principles of composite nonlinear control. The OMR trajectory tracking error system is stabilized on a composite nonlinear sliding surface, which comprises a linear and nonlinear sliding function coefficients. The nonlinear coefficient is designed on the basis of the principle of a variable damping ratio, to improve the error system’s transient performance. The existence of the sliding mode is shown by rejecting all system uncertainties, and input saturation. The stability of the closed-loop system is proved using Lyapunov theory, and numerical simulations for tracking a 3-wheel OMR are presented to validate the effectiveness and superiority of the proposed approach, especially the reduction of overshoot in both the robot’s plane and the error-space.
Authors: Ankur Deka, Sandeep Reddy Basireddy
Institution: Indian Institute of Technology Guwahati
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7203621202