Task Based Kinematical Robot Control in the Presence of Actuator Velocity Saturation and Its Application to Trajectory Tracking for an Omni-wheeled Mobile Robot

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator peak velocity limits, the resulting saturated linear and angular velocity commands could interfere with each other thus dramatically affecting the overall expected performance. Based on Lyapunov's direct method, a position and heading trajectory tracking control law for Swedish wheeled robots is developed. It explicitly accounts for actuator velocity saturation by using ideas from a prioritized task based control framework