Velocity Control of an Omnidirectional Wheeled Mobile Robot Using Computed Voltage Control with Visual Feedback: Experimental Results

Armando Saenz, Victor Santibañez, Eusebio Bugarin, Alejandro Dzul, Héctor Ríos, Jorge Villalobos-Chin

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


In this paper, we propose a novel computed voltage based control law for an omnidirectional wheeled mobile robot equipped with four mecanum wheels. First, the dynamical model for the mechanical part is originally introduced by means of the Euler-Lagrange formulation. The motion constraints are added to the dynamic model using the Lagrange multipliers. Then, the dynamic model is completed by incorporating the dynamics of the actuators. Therefore, the dynamical model input signals are the armature voltage of the motors. The control law requires only the feedback of position and velocity of the whole robot, unlike most controllers in the literature that also need wheel speed feedback. The position and velocity are obtained by means of a multicam vision system, so measurements from motor encoders are not needed. A high-order sliding modes differentiator is included to estimate linear and angular velocities in a finite time. A stability proof is presented by means of the direct Lyapunov method, and furthermore, an analysis about parametric uncertainties in the mechanical parameters is introduced. The experimental results validate the theoretical proposal and show the good performance of the approach.

Original languageEnglish
Pages (from-to)1089-1102
Number of pages14
JournalInternational Journal of Control, Automation and Systems
Issue number2
StatePublished - Feb 2021

Bibliographical note

Funding Information:
This project has been partially financed by the TecNM, PRODEP and CONACYT 134534 projects. Héctor Ríos gratefully acknowledges the financial support from Cátedras CONACYT CVU 270504 project 922.

Publisher Copyright:
© 2020, ICROS, KIEE and Springer.

Copyright 2021 Elsevier B.V., All rights reserved.


  • Actuator dynamics
  • computed voltage control
  • omnidirectional wheeled mobile robots
  • sliding-mode observer


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