Adaptive Steering Controller Design for Omnidirectional Mobile Robots

Abstract An adaptive steering controller is proposed to address the issue of vibration interference caused by changes in lateral distance and relative yaw angle in an omnidirectional mobile robot for trajectory tracking. This controller effectively attenuates the vibration interference and improves tracking accuracy. The controller utilizes front wheel and rear wheel steering as input signals and introduces the error difference and gain coefficient β into the error equation based on the adaptive control principle to minimize the interference. Simulation verification using the MATLAB/Simulink simulation platform demonstrates that adjusting the value of β rapidly attenuates the vibration interference and enhances the robot's stability in trajectory tracking.