Research dynamic surface control for four Mecanum wheeled mobile robot
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https://doi.org/10.54939/1859-1043.j.mst.FEE.2022.41-49Keywords:
Mobile Robot; Four Mecanum Wheeled Mobile Robot; Sliding mode control; Dynamic Surface Control.Abstract
The manuscript presents the Dynamic Surface Control (DSC) applied to the Four Mecanum Wheeled Mobile Robot (FMWR). The mathematical model in this manuscript has been built, including: Kinematic and dynamic equations for FMWR based on the Euler-Largarange equations. Propose a dynamic sliding surface control algorithm for FMWR. The stability of the system is proven by Lyapunov stability theory. The simulation results with the proposed DSC algorithm compared with the PID and SMC controllers show better control efficiency and quality.
The manuscript presents the Dynamic Surface Control (DSC) applied to the Four Mecanum Wheeled Mobile Robot (FMWR). The mathematical model in this manuscript has been built, including: Kinematic and dynamic equations for FMWR based on the Euler-Largarange equations. Propose a dynamic sliding surface control algorithm for FMWR. The stability of the system is proven by Lyapunov stability theory. The simulation results with the proposed DSC algorithm compared with the PID and SMC controllers show better control efficiency and quality.
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