Versatile non linear control strategy for reconnaissance robotic system

In this paper trajectory and orientation control is addressed for an Omni directional robot (ODR). Here ODR is modeled in a state space representation using its dynamics and the kinematics incorporating correction for motor imbalance problem. Then for that nonlinear state space, novel tracking based state feedback linearizing strategy is introduced so that controller for the intended task can be designed. Operation of this proposed strategy is compared with improved version of conventional PID based controller which is designed for the same trajectory and orientation tracking task of an ODR. Then Obtained state space model is used to test the performance of both proposed controllers. Both controllers show acceptable performance.