Computed-Torque Control of an Omnidirectional Mobile Robot

The path-tracking problem of a wheeled omnidirectional mobile robot is addressed in this work. Instead of the classical kinematics model based control commonly considered, the analysis of the problem is based on the dynamic model of the vehicle. Borrowed from the rigid robot manipulator literature, the well known computed torque control strategy is applied to the case of a mobile robot of the type (3,0). It is shown that the considered strategy solves the problem assuring the closed loop stability of the system when the state is available for measurement, allowing in this way the convergence of the tracking errors. The performance of the tracking strategy is evaluated by simulation, showing an acceptable performance.