Adaptive Energy-Shaping Error-Dynamics Control for Omni-Mecanum Mobile Robots

Abstract

This paper presents a novel adaptive energy-shaping control framework for trajectory tracking of omni-mecanum-wheeled mobile robots operating under significant parametric uncertainties and external disturbances. By exploiting the intrinsic mechanical structure of the system, the tracking error dynamics are reformulated into a strictly dissipative energy-based representation, enabling systematic controller synthesis with clear physical interpretation. The proposed approach constructs the control law directly in Cartesian space and integrates adaptive mechanisms to compensate for unknown inertial, frictional, and load-related parameters. Rigorous Lyapunov-based analysis guarantees global asymptotic tracking in the nominal case and uniform ultimate boundedness of all closed-loop signals in the presence of uncertainties. Comparative simulations on the full nonlinear robot model demonstrate that the proposed controller achieves faster convergence, reduced overshoot, and smoother control effort compared with conventional adaptive backstepping and sliding-mode methods. These results highlight the effectiveness, robustness, and practical applicability of the proposed strategy for high-precision motion control of omnidirectional mobile robots in uncertain environments.