Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law

YANG Lingyao; ZHANG Aihua; XU Jinlong; ZHANG Zhongjie

doi:10.12299/jsues.21-0195

Volume 35 Issue 1

Sep. 2022

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Article Navigation > Journal of Shanghai University of Engineering Science > 2022 > 36(1): 23-30

YANG Lingyao, ZHANG Aihua, XU Jinlong, ZHANG Zhongjie. Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 23-30. doi: 10.12299/jsues.21-0195

Citation:

YANG Lingyao, ZHANG Aihua, XU Jinlong, ZHANG Zhongjie. Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 23-30. doi: 10.12299/jsues.21-0195

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Trajectory tracking control of Mecanum wheel omnidirectional mobile robot based on power reaching law

doi: 10.12299/jsues.21-0195

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Shanghai Electro- Mechanical Engineering Institute, Shanghai 201109, China

Received Date: 2021-09-23
Accepted Date: 2021-12-02
Publish Date: 2022-09-26

Abstract

Abstract

Aiming at problems of slow convergence and long time consuming in trajectory tracking, and chattering problem exists in the control of Mecanum wheel omnidirectional mobile robot based on general sliding mode, a sliding mode control method was proposed to realize the rapid convergence of the system by using the multi power reaching law. The position change of three degrees of freedom of robot was realized by controlling the angular velocity of four Mecanum wheels, and the control of three inputs and four outputs was completed. According to the mathematical model established, the multi power reaching law was used to adjust the convergence speed at different stages of the system approaching sliding mode surface, and the hyperbolic tangent function was used to replace the sign function in the reaching law to improve the chattering problem. The stability of the three inputs and four outputs control system was proved by Lyapunov theory. Finally, the control effect of the proposed algorithm was illustrated by simulation and comparison analysis.
- Mecanum wheel,
- trajectory tracking,
- sliding mode control,
- multi power reaching law

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References(17)

References

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