NGHIÊN CỨU THIẾT KẾ BỘ ĐIỀU KHIỂN TRƯỢT ĐÁP ỨNG THỜI GIAN HỮU HẠN ỨNG DỤNG CHO ROBOT DI ĐỘNG BỐN BÁNH MECANUM

Abstract

Mecanum-wheeled mobile robots can move in any direction without changing the orientation of their chassis. However, due to their nonlinear dynamics
and slip effects, controlling Mecanum-wheeled robots requires advanced control methods. Sliding Mode Control (SMC) is a powerful nonlinear control technique
commonly used for omnidirectional mobile robots with Mecanum wheels. SMC ensures accurate trajectory tracking and stability in environments with
disturbances and uncertainties while overcoming many limitations of other control methods. In this paper, the authors propose a Finite-Time Terminal Sliding
Mode Controller (TSMC) as an improvement over traditional Sliding Mode Control (SMC) for trajectory tracking of Mecanum-wheeled mobile robots. Although
SMC provides good robustness against disturbances and uncertainties, it only ensures asymptotic convergence and may induce chattering. TSMC addresses these
limitations by guaranteeing finite-time convergence and reducing chattering, making the control system smoother and more precise.