Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique

doi:2011.25.5.1

J. Ocean Eng. Technol. > Volume 25(5); 2011 > Article

J. Ocean Eng. Technol. 2011;25(5):1-8.
DOI: https://doi.org/10.5574/KSOE.2011.25.5.001

Dinh Viet-Tuan,Thinh Doan-Phuc,Hoang Giang,Kim Hak-Kyeong,Oh Sea-June,Kim Sang-Bong

Department of Mechanical and Automotive Engineering Pukyong National University,Department of Mechanical and Automotive Engineering Pukyong National University,Department of Mechanical and Automotive Engineering Pukyong National University,Department o

Keywords: Backstepping control, Kinematic controller, Lyapunov function candidate, Omnidirectional mobile platform (OMP)

Abstract

This paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling, a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.