Trajectory tracking control for four-wheeled omnidirectional mobile robot using Backstepping technique aggregated with sliding mode control

Abstract

This paper will present a robust controller using the combination of Backstepping technique and Sliding Mode Control (SMC) algorithm for the four-wheeled omnidirectional mobile robot (FWOMR). The process of control design would use both dynamic and kinematic models of the robot. The SMC deals with external disturbances and parametric uncertainties in order to ensure the system robustness. Meanwhile, the derived system control law of Backstepping technique is able to make controlled system be globally stable. Thus, the system operates more comprehensively, efficiently in practical application. The simulation results show that the controller work well and the robot can track any kind of desired the trajectory.