Aleksandr Sergeevich Andreev, Ulyanovsk State University, Doctor of Physics and Mathematics, Professor; graduated from the Faculty of Mechanics and Mathematics of Tashkent State University; Dean of the Faculty of Mathematics and Information Technologies at Ulyanovsk State University; Head of the Department of Information Security and Control Theory of Ulyanovsk State University; an author of articles, textbooks, and a monograph in the field of stability theory and the motion control of mechanical systems. [email: AndreevAS@ulsu.ru]A. Andreev, Ekaterina Alekseevna Kudashova, Ulyanovsk State University, graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; Junior Researcher at the Department of Scientific Research of Ulyanovsk State University; an author of articles in the field of the motion control of mechanical systems. [email: katherine.kudashova@yandex.ru]E. Kudashova


On Modeling the Control Structure of the Omnidirectional Mobile Robo
Nowadays, requirements to modeling and researching selfdirected robotic systems are extremely high. In order to improve maneuverability and control efficiency, new mobile robots with omniwheels are developed. Such robots are able to move in either direction without turning around. They have these features due to the fact of increase of construction and control rules complexity. Three and fourwheeled mobile robots with rollercarrying wheels have become more widespread. The article deals with the problem of theoretical control establishing to provide arbitrary program motion of threewheeled robots with omniwheels. The computer model of valid control efficiency analysis was developed. For developing this model, .the numerical modeling method that turns the continuous model into the corresponding numerical one was used. Practical application of the introduced stabilizing control algorithm for mechanical systems was demonstrated by the example of threewheeled robot motion stabilization. Mathematical modeling, threewheeled robot, stabilization, control, digitization.

