<strong>Paper Title</strong><br>
DYNAMIC MODEL-BASED PATH-TRACKING CONTROLLER DESIGN FOR THREE OMNI-DIRECTIONAL MOBILE ROBOT<br>
<br>

<strong>Abstract</strong><br>
This paper presents the path-tracking controller based on dynamic model for three omni-directional mobile robot
being the mathematical model very important to development of control strategies allowing obtain a better performance. So,
an analysis dynamic to find the parameters of the dynamic equation characteristic is made using the method of Euler-
Lagrange.The simulation of the dynamic is made in MATLAB, then a computed torque control is proposed and simulated
using Matlab Simulink.
Keywords - Path Tracking Controller, Dynamic Model, Omni-Directional Mobile Robot, Euler-Lagrange, Computed
Torque Control.