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| Precise trajectory tracking ofmecanum-wheeled omnidirectional mobile robots via a novel fixed-time sliding mode control approach |
| ZheSun1,ZhipengLi1,HaoXie2,YunjunZheng3,JinchuanZheng2,BoChen1 |
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| (1 College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China;2 School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Hawthorn 3122, VIC, Australia;3 School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, Anhui, China) |
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| 摘要: |
| This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled
omnidirectional mobile robot. First, the idea of two-phase attractors is introduced into the domain of sliding mode control,
and a new fixed-time sliding surface is proposed. Then, according to this sliding surface, a new type of nonsingular fast
terminal sliding mode control algorithm is designed for the omnidirectional mobile robot, which can realize a fast fixed-time
convergence property. The stability of the control system is proven scrupulously, and a guideline for control-parameter tuning
is expounded. Finally, experiments are implemented to test the trajectory-tracking performance of the robot. Experimental
results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with
benchmark controllers. |
| 关键词: Omnidirectional mobile robot · Trajectory tracking · Sliding mode control · Fixed-time convergence |
| DOI：https://doi.org/10.1007/s11768-024-00224-8 |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (62003305), the Natural Science Foundation of Zhejiang Province (LQ21F030015), the Key Research and Development Program of Zhejiang Province (2022C03029), and the Public Welfare Application Research Project of Huzhou City (2022GZ15). |
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| Precise trajectory tracking ofmecanum-wheeled omnidirectional mobile robots via a novel fixed-time sliding mode control approach |
| Zhe Sun1,Zhipeng Li1,Hao Xie2,Yunjun Zheng3,Jinchuan Zheng2,Bo Chen1 |
| (1 College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China;2 School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Hawthorn 3122, VIC, Australia;3 School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, Anhui, China) |
| Abstract: |
| This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled
omnidirectional mobile robot. First, the idea of two-phase attractors is introduced into the domain of sliding mode control,
and a new fixed-time sliding surface is proposed. Then, according to this sliding surface, a new type of nonsingular fast
terminal sliding mode control algorithm is designed for the omnidirectional mobile robot, which can realize a fast fixed-time
convergence property. The stability of the control system is proven scrupulously, and a guideline for control-parameter tuning
is expounded. Finally, experiments are implemented to test the trajectory-tracking performance of the robot. Experimental
results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with
benchmark controllers. |
| Key words: Omnidirectional mobile robot · Trajectory tracking · Sliding mode control · Fixed-time convergence |
