Frictional forces and torques compensation based cascaded sliding-mode tracking control for an uncertain omnidirectional mobile robot

The work presented here deals with the trajectory-tracking control of omnidirectional mobile robots using a novel robust technique. aim is to achieve good tracking performance in presence frictional forces and torques, uncertainties, saturated inputs. First, dynamic model robot incorporating motor dynamics torques derived leading higher order system model. Subsequently, cascaded sliding-mode scheme proposed perform robot, which includes direct indirect controllers structure. controller utilized attain reference input (i.e., desired trajectory) first subsystem constitutes for second one. A actual control) then designed input. This way, can be effectively manipulated through individual subsystems are guaranteed have not only Uniform Ultimate Boundedness but also asymptotic convergent performance. stability closed-loop demonstrated via Lyapunov criteria validated simulations. It shown that leads friction,