Abstract
Compared with traditional wheeled robots, omnidirectional mobile robots can achieve movement in any direction without changing the posture and have a center steering function, which is flexible and maneuverable. In order to solve the problem that the trajectory tracking effect is poor when there are uncertain parameters and unknown disturbances in the motion control of traditional omnidirectional mobile robots, this paper takes a four-wheel omnidirectional mobile platform as the research object and establishes its kinematic model. The motion control method based on sliding mode variable structure control is proposed and the trajectory tracking controller is designed. The simulation results show that the controller effectively improves the trajectory tracking accuracy during the movement of the omnidirectional mobile platform.
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Zhang, H., Ma, Y., Cho, K. (2021). Research on Sliding Mode Control of Multi-differential Omnidirectional Mobile Platform. In: Jia, Y., Zhang, W., Fu, Y. (eds) Proceedings of 2020 Chinese Intelligent Systems Conference. CISC 2020. Lecture Notes in Electrical Engineering, vol 706. Springer, Singapore. https://doi.org/10.1007/978-981-15-8458-9_61
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DOI: https://doi.org/10.1007/978-981-15-8458-9_61
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