Trajectory Tracking Control of Three-Wheeled Omnidirectional Mobile Robot: Adaptive Sliding Mode Approach

Abstract

This paper proposes an adaptive and robust control for a three-wheeled omnidirectional mobile robot (TWOMR) in presence of disturbance due to friction and bounded uncertainties. Kinematic and dynamic modeling of TWOMR is done to obtain the equation of motion under the action of frictional forces. Controller is designed to track the desired path. First to make the system robust, Integral sliding mode controller (ISMC) is designed and then for estimation of design parameter and to reduce the chattering effect an adaptive integral sliding mode controller (AISMC) is built. Simulations are conducted to show the effectiveness of proposed controller for TWOMR.