Abstract

This paper proposes a new control method for the omnidirectional mobile robot (OMR) system with unknown dynamics and disturbances. An unknown system dynamics estimator (USDE) is developed by introducing low-pass filter operations to estimate the unknown dynamics and external disturbances, and only one parameter of the USDE needs to be tuned. Moreover, a new fast nonsingular terminal sliding mode control (FNTSMC) scheme is developed to overcome the singularity and slow convergence rate of the terminal sliding mode control (TSMC) method. Finally, we combine the proposed USDE and FNTSMC schemes to design a feedback controller to guarantee tracking control accuracy of the omnidirectional mobile robot system. In addition, stability analysis of the proposed USED and FNTSMC methods is presented via the Lyapunov theory, and the performance of the proposed control scheme is verified by the simulation.

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