Pham Anh Tuan and Nguyen Manh LinhThis email address is being protected from spambots. You need JavaScript enabled to view it.
Hanoi University of Science and Technology, Hanoi, Vietnam
Received: November 19, 2023 Accepted: December 25, 2023 Publication Date: March 1, 2024
Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.
Controlling the motion of mobile robots, especially those equipped with Mecanum wheels is challenging due to the existence of disturbances and model uncertainties. In this paper, instead of trying to build a precise model for control design, the model-free control which replaces all the unknown complex mathematical parts with an ultra-local model is chosen. Then, an iPDSMC controller that combines the classical iPD and a double power rate sliding mode controller is proposed to improve the control system performance. The proposed strategy guarantees that even with a low bandwidth extended state observer used to continuously update the unknown parts of the plant, the tracking performance is maintained. The effectiveness of the proposed strategy is verified by both theoretical analysis and numerical simulations.
Keywords: Omnidirectional mobile robot; Model-free control; Ultra-local model; Extended-state observer; Sliding mode control
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