Precise trajectory tracking of mecanum-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,China2.School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Hawthorn 3122,VIC,Australia3.School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,Anhui,China
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.
机标关键词：mobilecontrolmodenovelapproachfixed-timemecanum-wheeledomnidirectional
论文发表日期：2024-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：16( 596-611 )
英文信息