This paper addresses the trajectory tracking control design of an omnidirectional mobile robot with a center of mass displaced from the geometrical center of the robot platform. Due to the high maneuverability provided by omniwheels, such robots are widely used in industry to transport loads in narrow spaces. As a rule, the center of mass of the load does not coincide with the geometric center of the robot platform. This makes the trajectory tracking control problem of a robot with a displaced center of mass relevant. In this paper, two controllers are constructed that solve the problem of global trajectory tracking control of the robot. The controllers are designed based on the Lyapunov function method. The main difficulty in applying the Lyapunov function method for the trajectory tracking control problem of the robot is that the time derivative of the Lyapunov function is not definite negative, but only semidefinite negative. Moreover, the LaSalle invariance principle is not applicable in this case since the closed-loop system is a nonautonomous system of differential equations. In this paper, it is shown that the quasi-invariance principle for nonautonomous systems of differential equations is much convenient for the asymptotic stability analysis of the closed-loop system. Firstly, we construct an unbounded state feedback controller such as proportional-derivative term plus feedforward. As a result, the global uniform asymptotic stability property of the origin of the closed-loop system has been proved. Secondly, we find that, if the damping forces of the robot are large enough, then the saturated position output feedback controller solves the global trajectory tracking control problem without velocity measurements. The effectiveness of the proposed controllers has been verified through simulation tests. Namely, a comparative analysis of the bounded controller obtained and the well-known "PD+" like control scheme is carried out. It is shown that the approach proposed in this paper saves energy for control inputs. A. S. Andreev, O. A. PeregudovaBesides, a comparative analysis of the bounded controller and its analogue constructed earlier in a cylindrical phase space is carried out. It is shown that the controller provides lower values for the root mean square error of the position and velocity of the closed-loop system.

In this paper, the stability and stabilization problems for nonlinear Volterra integrodifferential equations with unlimited delay are considered. The development of the direct Lyapunov method in the study of the limiting properties of the solutions of these equations is carried out by using Lyapunov functionals with a semidefinite time derivative. The topological dynamics of these equations has been constructed revealing the limiting properties of their solutions.The assumption of the existence of a Lyapunov functional with a semidefinite time derivative gives a more complete solution to the positive limit set localization problem. On this basis new theorems on sufficient conditions for the asymptotic stability and instability of the zero solution of nonlinear Volterra integro-differential equations are proved. These theorems are applied to the problem of the equilibrium position stability of the hereditary mechanical systems as well as the regulation problem of the controlled mechanical systems using a proportional-integro-differential controller. As an example, the regulation problem of a mobile robot with three omnidirectional wheels and a displaced mass center is solved using the nonlinear integral controllers without velocity measurements.

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