An Adaptive Robust Controller for a Mobile Robot Driven by Mecanum Wheels

Abstract

An adaptive sliding mode controller was designed for a mobile robot driven by four mecanum wheels.The original contribution of this paper is employing adaptive robust controller to mecanum wheels driven mobile robot for obtaining better tracking and robustness performance.To complete the design of the controller, the kinematic model of the mobile robot driven by mecanum wheels was firstly proposed.An adaptive robust controller was designed subsequently.A sliding surface was designed in Proportional-Differential-Integral form, which satisfied the robustness requirements of the system.Besides, a reaching law which has quick convergence was introduced, which reduced the time consumed by the setting parameters and resisting external disturbance.The controller was demonstrated in the presence of impulsive disturbance and sinusoidal signal disturbance, which proved the superiority of the proposed controller.Finally, an experimental verification of trajectory tracking was implemented to verify the practicability and effectiveness.