Trajectory tracking control of the Mecanum wheeled mobile robot based on the SMC methods

Tingyu Guo

doi:10.1117/12.2624231

6 February 2022 Trajectory tracking control of the Mecanum wheeled mobile robot based on the SMC methods

Tingyu Guo

Proceedings Volume 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021); 1208113 (2022) https://doi.org/10.1117/12.2624231
Event: Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 2021, Chongqing, China

Abstract

Three methods, SSMC, ESO-SMC and ASMC, are presented in this paper for repression of chattering. There are four steps for a common process in refined methods. The first step is determining the state variables and the relation between the state variables. The second is obtaining the derivation of the slide surface function. Third, the approach rate function and the control output of the synovial variable structure are presented. Finally, the system’s stability is proved by Lyapunov energy function. In addition, three methods are compared, which demonstrates the similarities and difference for the methods in the paper. The SSMC improves the order of slide surface to obtain good robustness, and the ESO-SMC endeavors to design a disturbance observer to suppress chattering. ASMC with Adaptivity principle from adaptive controllers intends to decrease the chattering phenomenon. The good results and performance show effectively.

Citation Download Citation

Tingyu Guo "Trajectory tracking control of the Mecanum wheeled mobile robot based on the SMC methods", Proc. SPIE 12081, Sixth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2021), 1208113 (6 February 2022); https://doi.org/10.1117/12.2624231

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