Abstract
This paper proposes a new dynamic control model with stability analysis for an omnidirectional mobile robot. In particular, the dynamical model uses a feedback linearization for the control in order to follow a given trajectory. To do this, a PID controller is practically considered for controlling the motion of the mobile robot. In order to prove the stability of the proposed system, Lyapunov stability function is used which gives a guarantee for the asymptotical stability. The simulations and experimental results are carried out with the dynamic control method which leads the stability of the mobile robot during circular path navigation. A three-wheels omnidirectional mobile robot is considered for the purpose of simulation and experimental studies.
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