Precise trajectory tracking of mecanum-wheeled omnidirectional mobile robots via a novel fixed-time sliding mode control approach  

作　　者：Zhe Sun Zhipeng Li Hao Xie Yunjun Zheng Jinchuan Zheng Bo Chen 

机构地区：[1]College of Information Engineering,Zhejiang University of Technology,Hangzhou,310023,China [2]School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Hawthorn,3122,VIC,Australia [3]School of Mechanical Engineering,Hefei University of Technology,Hefei,230009,Anhui,China

出　　处：《Control Theory and Technology》2024年第4期596-611,共16页控制理论与技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(62003305);the Natural Science Foundation of Zhejiang Province(LQ21F030015);the Key Research and Development Program of Zhejiang Province(2022C03029);the Public Welfare Application Research Project of Huzhou City(2022GZ15).

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.

关 键 词：Omnidirectional mobile robot Trajectory tracking Sliding mode control Fixed-time convergence 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]