Adaptive Steering Controller Design for Omnidirectional Mobile Robots

Adaptive Steering Controller Design for Omnidirectional Mobile Robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Adaptive Steering Controller Design for Omnidirectional Mobile Robots 孙 Sun, Taotao Sun, Kaiqi Taotao, Taotao Lv This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7405563/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version 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. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7405563","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":517244727,"identity":"cee86926-e17f-4d0a-ad97-b3c4e940bf09","order_by":0,"name":"孙 Sun","email":"","orcid":"","institution":"Shanghai Dianji University","correspondingAuthor":false,"prefix":"","firstName":"孙","middleName":"","lastName":"Sun","suffix":""},{"id":517244728,"identity":"585086f4-b176-4327-abd2-589e6b52394d","order_by":1,"name":"Taotao 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