Fuzzy adaptive recursive terminal sliding mode control for an agricultural omnidirectional mobile robot
28 thg 8, 2024 | 16:30

Fuzzy adaptive recursive terminal sliding mode control for an agricultural omnidirectional mobile robot



Nowadays, agricultural robots play a vital role in the development of agriculture. This paper proposes a fuzzy adaptive recursive terminal sliding mode control strategy for a Mecanum-wheeled omnidirectional mobile robot to fulfill trajectory-tracking tasks in transporting agricultural products. First, a kinematic-and-dynamic model with four control inputs and three states is established for the mobile robot. 

Then, a fuzzy adaptive recursive terminal sliding mode controller is designed, and the control system’s stability is assured via detailed mathematical proof. Subsequently, a dead-reckoning scheme based on the Runge–Kutta formula is presented to reckon the robot’s position-and-posture information online. A conventional sliding mode controller and a nonsingular terminal sliding mode controller are designed for comparison. Lastly, experiments in two scenarios of circular and figure-eight trajectories with different loads are carried out. The experimental results reveal the superiority of the proposed control strategy compared with the benchmark controllers.










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Nowadays, agricultural robots play a vital role in the development of agriculture. This paper proposes a fuzzy adaptive recursive terminal sliding mode control strategy for a Mecanum-wheeled omnidirectional mobile robot to fulfill trajectory-tracking tasks in transporting agricultural products. First, a kinematic-and-dynamic model with four control inputs and three states is established for the mobile robot. 

Then, a fuzzy adaptive recursive terminal sliding mode controller is designed, and the control system’s stability is assured via detailed mathematical proof. Subsequently, a dead-reckoning scheme based on the Runge–Kutta formula is presented to reckon the robot’s position-and-posture information online. A conventional sliding mode controller and a nonsingular terminal sliding mode controller are designed for comparison. Lastly, experiments in two scenarios of circular and figure-eight trajectories with different loads are carried out. The experimental results reveal the superiority of the proposed control strategy compared with the benchmark controllers.










LINK DOWNLOAD (TÀI LIỆU VIP MEMBER)

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