Nonlinear Control of Mecanum-Wheeled Robots Applying H∞Controller
The growing demand for highly maneuverable mobile robots today drives Mecanum-wheeled robot popularity in industrial automation, logistics, and service robotics. These omnidirectional robots have features that enable them to run appropriately in conditions requiring exact motion control. Nevertheless, low-level control techniques for these robots are still challenging to apply because of their nonlinear dynamics and external perturbations, including wheel friction and slip-page.
Authors
- José Gonçalves (ORCID: https://orcid.org/0000-0002-5499-1730)
- Paulo Costa (ORCID: https://orcid.org/0000-0002-4846-271X)
- José Lima (ORCID: https://orcid.org/0000-0001-7902-1207)
- João Braun (ORCID: https://orcid.org/0000-0003-0276-4314)
- António L.G. Valente (ORCID: https://orcid.org/0000-0002-5798-1298)
- Arezki Abderrahim Chellal (ORCID: https://orcid.org/0000-0002-9190-6865)
Institutions
- University of Trás-os-Montes and Alto Douro (PT)
- Universidade do Porto (PT)
- Universidade Politécnica de Bragança (PT)
- INESC TEC (PT)
Publication Details
- Published
- 2025-04-02
- DOI
- https://doi.org/10.1109/icarsc65809.2025.10970160
- Primary Topic
- Control and Dynamics of Mobile Robots
- Type
- article
- Field-Weighted Citation Impact
- 0.00