MATHEMATICAL MODEL WITH UNCERTAINTY FOR A CLASS OF OMNI-DIRECTION MOBILE ROBOT

In this paper,the main reasons of unstability during movement is analyzed,according to the structure characteristics of a class of omni direction mobile robots.After the mechanism and its law of this disturbance are clear,the mathematical model with uncertainty of these robots is deduced.This model is of importance in theory and of value in practice for steady servo control in this class of omni direction mobile robots with orthogonal wheels.