Adaptive fast terminal sliding mode trajectory tracking control of Mecanum-wheeled omnidirectional mobile robots using barrier function

Abstract

This paper presents a barrier function-based adaptive nonsingular fast terminal sliding mode control (BFANFTSMC) algorithm for the trajectory tracking of a Mecanum-wheeled omnidirectional mobile robot (MWOMR). A four-inputs-three-outputs kinematic-and-dynamic model of the MWOMR is constructed with considerations of parameter uncertainties and unknow external disturbances. To achieve a stable and robust performance, a BFANFTSMC scheme is designed for the MWOMR, while a modified barrier function (MBF) is further proposed with particular consideration of actuator saturation. Stability and robustness of the proposed control methods are analyzed using the Lyapunov theory. Also, real-time experimental results on a MWOMR platform show superior performance on tracking precision and control robustness compared with three existing control schemes.