On Time-Delayed Feedback Trajectory Tracking Control of a Mobile Robot with Omni-Wheels

This paper proposes a solution to the trajectory tracking control problem of a mobile robot with three omni-wheels on the base of a delayed output feedback. We consider a dynamical model of the robot wherein the platform's center of mass is displaced from its geometrical center. The omni-wheels of the robot are independently driven by three DC motors. Based on the Lyapunov functional method a nonlinear bounded controller is constructed without measuring the velocities that solves the global trajectory tracking problem for the robot using only time-delayed position errors. Using the proposed approach, we construct also a sampled-data controller that ensures the uniform asymptotic stability of the reference trajectory.