Research of the Trajectory Tracking Method for Four-wheeled Omnidirectional Mobile Robot based on the Adaptive Sliding Mode Control

Abstract

Considering the dynamics model parameter uncertainty and external disturbance of four-wheeled omnidirectional mobile robot,a kind of four- wheeled omnidirectional mobile robot trajectory tracking control method based on adaptive sliding mode is put forward in order to improve the trajectory tracking control performance. Firstly,the robot dynamics model is established on the basis of drive motor parameters. And an adaptive sliding mode trajectory tracking controller is designed. At the same time a parameter adaptive control algorithm is proposed in order to achieve the online estimation of the robot dynamics parameters,and real- time switch gain adjustment of trajectory tracking controller is achieved by using RBF neural network as to reduce the chattering of the system. Finally,the simulation experiment is carried out by using MATLAB in order to verify the effectiveness of the described method. The simulation results show that the four- wheeled omnidirectional mobile robot trajectory tracking method based on adaptive sliding mode control can well reduce the effects of parameter variations and external disturbances on the system. It can reduce the chattering of the system and has good anti- interference ability.