Trajectory Tracking of Swing-Arm Type Omnidirectional Mobile Robot

Table 1

Weighting coefficient assignment.

Conditions
E3 ≤ 2E2	0.3	0.2	0.5
E3 ≥ 2E2	0.7	0.2	0.1
E3 ≤ 2E2 and E2 ≤ 2E1	0.1	0.2	0.7