Trajectory Control of a Three-Wheeled Omnidirectional Vehicle in an Unknown Environment

In this chapter, a nonlinear controller is designed for a wheeled vehicle with three omnidirectional wheels. The modeling of the omnidirectional vehicle with uncertainties is conducted. Then, the omnidirectional vehicle is analyzed with its controllability that provides the omnidirectional vehicle the ability to track a trajectory. In the controller design, a robust sliding mode controller is developed for the trajectory tracking control in an unknown environment. The effectiveness of the proposed control strategy is demonstrated by the experimental results.