Bézier trajectory tracking control of The Omnidirectional Mobile Robot based on a linear time- varying state feedback controller

Abstract

Introduction: The controller design method based on linear time varying state feedback controller is proposed to enforce an omnidirectional mobile robots (OMRs) to track a given Bézier trajectory. Methods: Initially, the linear error model of the robot system is obtained and used in the design of the linear time varying state feedback controller. Next, the controller gains are determined according to the linear and angular velocities for the desired trajectory to providing small errors. To verify the effectiveness of the proposed control strategy, simulation is carried out with desired Bézier trajectory for the OMR to reduce sudden speed changes. Results: The simulation results are presented, which have verified the good performance of the proposed controller for tracking the complex motion trajectories. Conclusion: Therefore, it is possible to apply this result to control the OMRS in logistics applications of the modern manufacturing systems.