Dynamic sliding mode control based on fuzzy logic for a four wheel mecanum robot

Vo Thu ha; Than Thi Thuong; Dam Quang Hue; Nguyen Van Ninh

doi:10.64032/mca.v29i4.324

Authors

Vo Thu Ha University of Economics - Technology for Industries
Than Thi Thuong University of Economics - Technology for Industries
Dam Quang Hue Electric Power University
Nguyen Van Ninh University of Economics - Technology for Industries

DOI:

https://doi.org/10.64032/mca.v29i4.324

Keywords:

Adaptive fuzzy logic controller; Dynamic Surface Control (DSC); Fuzzy Logic System (FLS); Adaptive Fuzzy Dynamic Surface Control (AFDSC); Mecanum wheel mobile robot;

Abstract

This paper focuses on developing the kinematic and dynamic models of a four-wheeled mecanum mobile robot, taking into account friction effects, external disturbances, and modeling uncertainties. Based on these models, a Dynamic Surface Control (DSC) algorithm is designed and integrated with a fuzzy logic mechanism to adjust control parameters in real time adaptively. The controller is developed with the aim of ensuring closed-loop stability and maintaining accurate trajectory tracking even under conditions of unknown friction, torque disturbances, and parameter variations. The stability and convergence of the Adaptive Fuzzy Dynamic Surface Control (AFDSC) are formally proven using Lyapunov theory. The effectiveness of the proposed approach is then evaluated and compared with the conventional DSC controller through simulations in MATLAB/Simulink, considering friction, disturbances, and model uncertainties
.