A study on the optimal control strategy using sliding mode controller for Mecanum-Wheeled omnidirectional mobile robot

IF 5.2 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Measurement Pub Date : 2025-06-07 DOI:10.1016/j.measurement.2025.118113

Gia-Khang Nghiem , Thanh-Long Le , Tri Cong Phung , Quoc Hung Dinh

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引用次数: 0

Abstract

In this study, a dynamic model of the Mecanum-Wheeled Omnidirectional Mobile Robot (MWOMR) is developed and controlled using a Sliding Mode Controller (SMC) to determine the optimal control strategy in terms of operational time, trajectory error, and energy consumption. Despite extensive research on Mecanum-wheeled mobile robots, which primarily focuses on developing advanced control methods, the impact of different motion strategies on efficiency and adaptability, originating from the dynamic characteristics of the MWOMR, remains underexplored. Therefore, this study investigates whether pure translational movement or a combination of rotational and translational maneuvers provides superior performance. To achieve this, the SMC, known for its robustness in nonlinear control, is implemented in a MATLAB/Simulink simulation to evaluate various motion strategies. The findings suggest that the most effective strategy for MWOMRs leverages the advantages of omnidirectional wheel characteristics, with minimal maneuvering phases being the optimal strategy for the system. This result offers valuable insights into optimal control methods for real-world applications.

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轮式全向移动机器人滑模控制器最优控制策略研究

本文建立了机械轮式全向移动机器人（MWOMR）的动力学模型，并采用滑模控制器（SMC）对其进行控制，以确定在运行时间、轨迹误差和能量消耗方面的最优控制策略。尽管对机械轮式移动机器人进行了广泛的研究，主要集中在开发先进的控制方法上，但由于机械轮式移动机器人的动态特性，不同的运动策略对其效率和适应性的影响仍未得到充分的探讨。因此，本研究探讨了单纯的平移运动或旋转与平移动作的结合是否能提供更好的表现。为了实现这一点，以其在非线性控制中的鲁棒性而闻名的SMC在MATLAB/Simulink仿真中实现，以评估各种运动策略。研究结果表明，MWOMRs最有效的策略是利用全向车轮特性的优势，以最小的机动阶段为系统的最佳策略。这一结果为实际应用中的最优控制方法提供了有价值的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Measurement 工程技术-工程：综合

CiteScore

10.20

自引率

12.50%

发文量

1589

审稿时长

12.1 months

期刊介绍： Contributions are invited on novel achievements in all fields of measurement and instrumentation science and technology. Authors are encouraged to submit novel material, whose ultimate goal is an advancement in the state of the art of: measurement and metrology fundamentals, sensors, measurement instruments, measurement and estimation techniques, measurement data processing and fusion algorithms, evaluation procedures and methodologies for plants and industrial processes, performance analysis of systems, processes and algorithms, mathematical models for measurement-oriented purposes, distributed measurement systems in a connected world.