Design of robust adaptive controller for a four wheel omnidirectional mobile robot

Abstract

This paper presents a methodology for designing an adaptive and robust sliding mode controller for a four wheel omnidirectional mobile robot (FWOMR). First kinematic and dynamic equation is derived, considering friction forces and viscous damping effects. In presence of unknown uncertainty FWOMR is unable to track the desired trajectory. To tackle the problem an adaptive integral sliding mode controller is designed. The controller consist of two control laws, one to make the system robust and another to estimate the unknown uncertainties. Simulations are conducted with changing magnitude of uncertainties to show the effectiveness of proposed controller on FWOMR.