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Design of Fixed-time Terminal Sliding Mode Control for Robot with Mecanum Wheels
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Javad Mowlaee   , Akbar Sharghi * , Reza Aghaei Togh |
| Malek Ashtar University of Technology, Tehran , Akbarsharghi1@gmail.com |
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Abstract: (4007 Views) |
| In this paper, a control input based on terminal sliding mode control is provided for a mobile robot with four Mecanum wheels to move in a predetermined path and convergence into the path in a fixed-time. First, according to the robot structure, a dynamic model of the robot is presented. The dynamic model follows a nonlinear second-order equation. Based on terminal sliding mode control, a nonlinear sliding surface which is a function of position error vector is defined and then the control input is designed based on this sliding surface. Using the Lyapunov theorem, it has been proven that, using this control input, the robot converges to the predetermined path at a fixed time. The convergence time is a function of the constants defined in the control input. Finally, the simulation is presented based on the control input and the results are shown. |
Article number: 2 |
| Keywords: Terminal sliding mode control, four wheels robot, Mecanum wheels, sliding surface, fixed-time stability. |
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Full-Text [PDF 1667 kb]
(1748 Downloads)
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Type of Study: Research |
Subject:
Nonlinear Control
Received: 2020/09/7 | Accepted: 2022/02/9 | Published: 2022/11/25
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