Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique

  • Dinh, Viet-Tuan (Department of Mechanical and Automotive Engineering, Pukyong National University) ;
  • Thinh, Doan-Phuc (Department of Mechanical and Automotive Engineering, Pukyong National University) ;
  • Hoang, Giang (Department of Mechanical and Automotive Engineering, Pukyong National University) ;
  • Kim, Hak-Kyeong (Department of Mechanical and Automotive Engineering, Pukyong National University) ;
  • Oh, Sea-June (Division of Mechatronics Engineering, Korea Maritime University) ;
  • Kim, Sang-Bong (Department of Mechanical and Automotive Engineering, Pukyong National University)
  • Received : 2011.06.13
  • Accepted : 2011.10.17
  • Published : 2011.10.31
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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.

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References

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