Abstract
This study, we proposed the motion control for omni four wheel independent steering/driving vehicle. This controller searches the optimal four driving forces and four side forces. Nevertheless solving the nonlinear motion equation is difficulty to search the these forces. So we solve the nonlinear motion equation by BFGS method of quasi-Newton's method. In addition, this motion control includes the Sliding mode control to improve the robustness. We verify the effectiveness of this robust motion control through the simulation.
