Adaptive Motion Tracking Control for Omnidirectional Mobile Robots Based on Characteristic Model

For the problem of adaptive motion control of omnidirectional mobile robot under unknown disturbance, in this paper the characteristic modeling and adaptive motion tracking control method of Mecanum-wheels omnidirectional mobile robots are studied. Firstly, the dynamic model of mecanum mobile chassis was established, and the input-decoupling characteristic model was established according to the characteristics of the dynamic model. Then, the Mecanum-wheels omnidirectional mobile robots adaptive motion tracking control method was designed based on characteristic model combined with the golden section control law. Simulation experiments results validate the effectiveness and robustness of the method in presence of uncertainties and unknown external disturbances.