Trajectory Tracking of an Omnidirectional Mobile Robot Using Sliding Mode Control

Abstract

Due to the omnidirectional mobile robot's maneuverability, stability and its relatively simple control, it is used in wide range of applications. The aim of this paper is to develop a sliding mode controller that enables a three wheeled omnidirectional mobile robot to perform trajectory tracking tasks based on the robot's kinematic model. The performance of the sliding mode controller is illustrated by way of some simulation scenarios. The paper also provides a simulation software package, which is designed to allow users to investigate the trajectory tracking control problem for an omnidirectional mobile robot without the need to go through the cumbersome process of kinematic modelling and the sliding mode control design.