Abstract
This paper investigates the trajectory tracking control for a Human Support Robot (HSR) considering omniwheel touchdown characteristic. A novel model reference adaptive law is designed to account for the omniwheel touchdown characteristic, which will be used to the design of trajectory tracking controller. Based on Lyapunov stability theory and LaSalle's invariance principle, it is proved that the designed model reference adaptive controller can make the tracking error system asymptotically stable. Simulation results demonstrate the necessary consideration of the omniwheel touchdown characteristic and the effectiveness of the proposed method.
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