An Adaptive Sliding Mode Controller for Four-wheeled Omnidirectional Mobile Robot with Input Constraints

摘要

An adaptive sliding mode control system with input constraints for a four-wheeled omnidirectional robot is presented in this paper. The control structure of omnidirectional robot was described. The kinematics and dynamics of the mobile robot are presented. Based on the Lyapunov function, an adaptive sliding mode controller is designed to deal with the input constraints, the model uncertainties and external disturbances. The control system is implemented for trajectory tracking in order to control the position and orientation angle of the robot. The designed control algorithm has been extensively tested in simulation. The obtained results demonstrate the effectiveness of proposed algorithms.