Design of Adaptive Sliding Mode Controller for Four-Mecanum Wheel Mobile Robot

摘要

In this paper, an adaptive sliding mode controller is designed for the omnidirectional mobile robot with four Mecanum wheels to track the trajectory. The Mecanum wheel mobile robot has been widely used in factories, hospitals, families and other workspaces because of its omnidirectional ability. Consider the dynamic model of the omnidirectional mobile robot based on Mecanum wheel with uncertainties and external disturbances, a neural network adaptive sliding mode control (NNASMC) strategy is proposed, which combines the techniques of Radial Basis Function (RBF) neural network adaptive control method and sliding mode control method. Finally, some simulation experiments are conducted in the Matlab environment. Simulation results demonstrate the effectiveness of the proposed control method.